@Article{esd-7-21-2016,
AUTHOR = {Heitzig, J. and Kittel, T. and Donges, J. F. and Molkenthin, N.},
TITLE = {Topology of sustainable management of dynamical systems with desirable states: from defining planetary boundaries to safe operating spaces in the Earth system},
JOURNAL = {Earth System Dynamics},
VOLUME = {7},
YEAR = {2016},
NUMBER = {1},
PAGES = {21--50},
URL = {https://esd.copernicus.org/articles/7/21/2016/},
DOI = {10.5194/esd-7-21-2016}
}