The GJK Distance Algorithm: An Interval Version for Incremental MotionsDyllong · Numerical Algorithms2004PDF174 KB
A Fast and Robust GJK Implementation for Collision Detection of Convex ObjectsBergen · Journal of Graphics Tools1999PDF5.9 MB
Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex ObjectsMontanari · ACM Transactions on Graphics2017PDF2.0 MB
A GJK-based Approach to Contact Force Feasibility and Distribution for Multi-contact RobotsZheng · Robotics and Autonomous Systems2011PDF980 KB
Proceedings of International Conference on Robotics and Automation - Enhancing GJK: Computing Minimum and Penetration Distances Between Convex PolyhedraCameron1997PDF633 KB
2006 IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE 2006) - GJK for Deformable Object Collision DetectionHatab2006PDF237 KB
