@InProceedings{benallegue:icra:2009,
  author    = {Mehdi Benallegue and Adrien Escande and Sylvain Miossec and Abderrahmane Kheddar},
  title     = {Fast \textdollar \textbackslash cal{C}\^{}1\textdollar  Proximity Queries using Support Mapping of Sphere-Torus-Patches Bounding Volumes},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year      = {2009},
  pages     = {483--488},
  address   = {Kobe, Japan},
  month     = {May 12-May 17},
  url       = {https://raw.githubusercontent.com/aescande/website/master/papers/2009\_ICRA\_Benallegue.pdf},
  doi       = {10.1109/ROBOT.2009.5152722}
}