P. W. Finn, D. Halperin, L. E. Kavraki, J.-C. Latombe, R. Motwani, C. Shelton, and S. Venkat, “Geometric Manipulation of Flexible Ligands,” in LNCS Series Applied Computational Geometry - Towards Geometric Engineering, 1996, vol. 1148, pp. 67–78.
Publisher: http://dx.doi.org/10.1007/BFb0014486
PDF preprint: http://kavrakilab.org/publications/finn-halperin1996geometric-manipulation-of.pdf