@ARTICLE{GV10,
title={A maximin characterization of the escape rate of nonexpansive mappings in metrically convex spaces},
author={S. Gaubert and G. Vigeral},
year=2012,
volume={152},
pages={341--363},
journal={Math. Proc. of Cambridge Phil. Soc.},
doi={10.1017/S0305004111000673}, 
eprint={1012.4765},
}