Robust swept SAT collision detection in 3D.

Hi, yet another question on SAT (sorry!).

What are some robust approaches to swept SAT collision detection in 3D. I have implemented the algorithm for this thanks to the help from many articles on this website, however, none of these articles address the problem of making the collision detection numerically robust. 

While my current implmentation is able to successfully detect swept collisions, often the objects will interpenetrate thanks to floating point errors, thus causing the objects to become stuck. How can these floating point errors be adrressed?

Furthermore, none of the articles address the problem of collision resolution, for …