@misc{indiciaeeeadf27072b7,
  title = {Efficient sensor/model based on-line collision detection for planetary manipulators},
  author = {Leger, P. C. and Schenker, P.},
  year = {2002},
  url = {https://ntrs.nasa.gov/citations/20060030756},
  note = {Source identifier: 20060030756}
}