@article{fh-eecms-07,
  author       = {Efi Fogel and Dan Halperin},
  title        = {Exact and efficient construction of {M}inkowski sums of convex polyhedra with applications},
  journal      = {Computer Aided Design},
  volume       = {39},
  number       = {11},
  year         = {2007},
  pages        = {929--940},
  doi          = {10.1016/j.cad.2007.05.017},
  publisher    = {Butterworth-Heinemann},
  address      = {Newton, MA, USA}
}