@article{mfh-frrms-11,
  author       = {Naama Mayer and Efi Fogel and Dan Halperin},
  title        = {Fast and Robust Retrieval of {M}inkowski Sums of Rotating Convex Polyhedra in 3-Space},
  journal      = {Computer Aided Design},
  volume       = {43},
  number       = {10},
  year         = {2011},
  pages        = {1258--1269},
  doi          = {10.1016/j.cad.2011.06.021}
}