1AUTO2000 by Eusebius J. Doedel , Randy C. Paffenroth, Alan R. Champneys, Thomas F. Fairgrieve, Yuri A. Kuznetsov, Bart E. Oldeman, Björn Sandstede and Xianjun Wang. See http://www.dam.brown.edu/people/sandsted/publications/auto2000.pdf.