@inproceedings{ijcai1977p177,
  title     = {Collision Detection and Avoidance in Computer Controlled Manipulators},
  author    = {Udupa, S. M.},
  booktitle = {Proceedings of the Fifth International Joint Conference on
               Artificial Intelligence, {IJCAI-77}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Raj Reddy},
  pages     = {737--747},
  year      = {1977},
  note      = {Robotics},
  url       = {https://ijcai.org/proceedings/1977/177},
}