@article{dai2024certified,
  title={Certified polyhedral decompositions of collision-free configuration space},
  author={Dai, Hongkai and Amice, Alexandre and Werner, Peter and Zhang, Annan and Tedrake, Russ},
  journal={The International Journal of Robotics Research},
  volume={43},
  number={9},
  pages={1322--1341},
  year={2024},
  publisher={SAGE Publications Sage UK: London, England}
}