@article{articled9f6e7ca,
title   = {Collision free region determination by modified polygonal boolean operations},
author = {Sato, André Kubagawa and Martins, Thiago de Castro and Tsuzuki, Marcos de Sales Guerra},
year = {2013},
doi = {10.1016/j.cad.2013.03.003},
journal   = {Computer-Aided Design}
}