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Resolving local minima problem of potential field:

, In: Proceedings of the 9th ACM SIGGRAPH Conference on Virtual-Reality Continuum and its Applications in Industry,
Zhang, Yan-Ping ; Ji, Qing-Ge ; Li, Ka-Ho. - p. 339-346 , 2010
Link: https://dl.acm.org/doi/10.1145/1900179.1900250