@inproceedings {taros05-bl,
AUTHOR = {Graeme Bell and Michael Livesey},
TITLE = {The Existence of Local Minima in Local-Minimum-Free Potential Surfaces},
BOOKTITLE = {Towards Autonomous Robotic Systems (TAROS 2005), London, UK},
YEAR = {2005},
URL = {http://www.cs.st-andrews.ac.uk/research/publications/BL05.php}
}