K.-F. Bohringer, B. R. Donald, L. E. Kavraki, and F. Lamiraux, “A Single Universal Force Field can Uniquely Orient Non-Symmetric Parts,” in Robotics Research: The 9th International Symposium, Springer, 1999, pp. 395–402.
PDF preprint: http://kavrakilab.org/publications/bohringer-donald1999single-universal-force.pdf