@article {Lagarias_JOO_1998, title = {Convergence Properties of the {N}elder-{M}ead Simplex Method in Low Dimensions}, journal = {SIAM Journal of Optimization}, volume = {vol.~9}, number = {no.~1}, year = {1998}, pages = {112{\textendash}147}, author = {J. C. Lagarias and J. A. Reeds and M. H. Wright and P. E. Wright} }