@article{JWSP-FB:12za,
  author =	 {J. W. Simpson-Porco and F. Bullo},
  title =	 {Contraction Theory on {R}iemannian Manifolds},
  journal =	{Systems \& Control Letters},
  year =	 2014,
  volume =	 65,
  pages =	 {74-80},
  pdf =		 {http://www.control.utoronto.ca/~jwsimpson/papers/2012za.pdf},
  doi = {10.1016/j.sysconle.2013.12.016},
  keywords =	 {Nonlinear Control},
}