@misc{montaut2022collision,
  title={Collision Detection Accelerated: An Optimization Perspective},
  author={Louis Montaut and Quentin Le Lidec and Vladimir Petrik and Josef Sivic and Justin Carpentier},
  year={2022},
  eprint={2205.09663},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2205.09663}
}