@InProceedings{Orthey2020WAFR,
  author={Orthey, Andreas and Toussaint, Marc},
  editor={LaValle, Steven M.  and Lin, Ming and Ojala, Timo and Shell, Dylan and Yu, Jingjin},
  title={Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse Theory},
  booktitle={Algorithmic Foundations of Robotics XIV},
  year={2021},
  publisher={Springer International Publishing},
  address={Cham},
  pages={502--517},
  isbn={978-3-030-66723-}
}