@misc{indiciaec36c71370009,
  title = {Incremental penetration depth estimation between convex polytopes using dual-space expansion.},
  author = {Young J Kim and Ming C Lin and Dinesh Manocha},
  doi = {10.1109/tvcg.2004.1260767},
  url = {https://pubmed.ncbi.nlm.nih.gov/15384640/},
  note = {Source identifier: 15384640}
}