# A Linear and Exact Algorithm for Whole-Body Collision Evaluation via Scale Optimization

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4383108757](https://www.wikidata.org/wiki/openalex:W4383108757)  
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