Didier Henrion Jean B. Lasserre Solving Global Optimization Problems over Polynomials with GloptiPoly 2.1. 43-58 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2861&spage=43 2002 conf/cocos/2002 COCOS db/conf/cocos/cocos2002.html#HenrionL02