Conservative swept volume boundary approximation. - Andreas von Dziegielewski; Rainer Erbes; Elmar Schömer (Symposium on Solid and Physical Modeling, 2010)

Parallel Collision Queries on the GPU - A Comparative Study of Different CUDA Implementations. - Rainer Erbes; Anja Mantel; Elmar Schömer; Nicola Wolpert (Facing the Multicore-Challenge, 2012)

Efficient parallel proximity queries and an application to highly complex motion planning problems with many narrow passages. - Rainer Erbes (2013)