@article{Orthey2020RAL,
  title={Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree},
  author={Andreas Orthey and Benjamin Fr{\'e}sz and Marc Toussaint},
  journal={IEEE Robotics and Automation Letters},
  month={April},
  year={2020},
  volume={5},
  number={2},
  pages={346-353},
}