Estimate of minimum distance between convex polyhedra based on enclosed ellipsoids. - Shen-Po Shiang; Jing-Sin Liu; Yu-Ren Chien (IROS, 2000)

A Novel Collision Detection Method Based on Enclosed Ellipsoid. - Ming-Yi Ju; Jing-Sin Liu; Shen-Po Shiang; Yuh-Ren Chien (ICRA, 2001)

Fast and accurate collision detection based on enclosed ellipsoid. - Ming-Yi Ju; Jing-Sin Liu; Shen-Po Shiang; Yuh-Ren Chien; Kao-Shing Hwang; Wan-Chi Lee (Robotica, 2001)