Jonathan Bachrach Jacob Beal Joshua Horowitz Dany Qumsiyeh Empirical Characterization of Discretization Error in Gradient-Based Algorithms. 203-212 2008 SASO http://dx.doi.org/10.1109/SASO.2008.53 conf/saso/2008 db/conf/saso/saso2008.html#BachrachBHQ08