@article{heim2018beyond, title = {Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics}, author = {Heim, Steve and Spr{\"o}witz, Alexander}, journal = {IEEE Transactions on Robotics (T-RO) }, volume = {35(4)}, pages = {939-952}, month = aug, year = {2019}, doi = {10.1109/TRO.2019.2910739}, url = {https://arxiv.org/abs/1806.08081}, month_numeric = {8} }