@inproceedings{Beker25IROS,
	author={Beker, O. and G{\"u}rtler, N. and Shi, J. and Geist, A. R. and Razmjoo, A. and Martius, G. and Calinon, S.},
	title={A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact},
	booktitle={Proc.\ {IEEE/RSJ} Intl Conf.\ on Intelligent Robots and Systems ({IROS})},
	year={2025}
}