@ARTICLE{Erickson2007,
  author = {Erickson, J. and Thite, S. and Rothganger, F. and Ponce, J.},
  title = {Capturing a Convex Object with Three Discs},
  journal = {IEEE Trans. Robotics and Automation},
  year = {2007},
  volume = {6},
  pages = {1133-1140},
  number = {23},
}