@article{fh-eecms-06,
  author = {Efi Fogel and Dan Halperin},
  title = {Exact and efficient construction of Minkowski sums of convex polyhedra with applications},
  journal = {Computer Aided Design},
  volume = {39},
  number = {11},
  year = {2007},
  issn = {0010-4485},
  pages = {929--940},
  doi = {http://dx.doi.org/10.1016/j.cad.2007.05.017},
  publisher = {Butterworth-Heinemann},
  address = {Newton, MA, USA},
}