@conference {30,
	title = {Robust hybrid source-seeking algorithms based on directional derivatives and their approximations},
	booktitle = {Proc. 47th IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2008},
	pages = {1735{\textendash}1740},
	abstract = {A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semiglobal practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller ?tting into this family is developed and demonstrated by simulation and experiment.},
	keywords = {hybrid systems},
	doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739392\&isnumber=4738560},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/30.pdf},
	author = {C. G. Mayhew and R. G. Sanfelice and A. R. Teel}
}
