This work was supported in part by the European Union's Horizon 2020 Research and Innovation Programme through the ColRobot project under Grant 688807, in part by the Portugal 2020 project DM4Manufacturing funded by UE/FEDER through the program COMPETE2020 under Grant POCI-01-0145-FEDER-016418, in part by the Portuguese Foundation for Science and Technology under Grant SFRH/BD/131091/2017, and in part by the Project COBOTIS under Grant PTDC/EME-EME/32595/2017.

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This work was supported in part by the European Union's Horizon 2020 Research and Innovation Programme through the ColRobot project under Grant 688807, in part by the Portugal 2020 project DM4Manufacturing funded by UE/FEDER through the program COMPETE2020 under Grant POCI-01-0145-FEDER-016418, in part by the Portuguese Foundation for Science and Technology under Grant SFRH/BD/131091/2017, and in part by the Project COBOTIS under Grant PTDC/EME-EME/32595/2017.

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12019Efficient Calculation of Minimum Distance Between Capsules and Its Use in RoboticsSafeea, Mohammad ; Neto, Pedro ; Béarée, Richard articleopenAccess