@inproceedings{amice2023finding,
  title={Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators},
  author={Amice, Alexandre and Dai, Hongkai and Werner, Peter and Zhang, Annan and Tedrake, Russ},
  booktitle={International Workshop on the Algorithmic Foundations of Robotics},
  pages={328--348},
  year={2023},
  organization={Springer}
}