Pieter Collins Alexandre Goldsztejn The Reach-and-Evolve Algorithm for Reachability Analysis of Nonlinear Dynamical Systems. 87-102 2008 223 Electr. Notes Theor. Comput. Sci. http://dx.doi.org/10.1016/j.entcs.2008.12.033 db/journals/entcs/entcs223.html#CollinsG08a