@conference {26,
	title = {A Hybrid Control Framework for Robust Maneuver-based motion planning},
	booktitle = {Proc. 27th American Control Conference},
	series = {NULL},
	year = {2008},
	pages = {2254{\textendash}2259},
	abstract = {We introduce a modeling framework for robustness of maneuver-based motion planning algorithms for nonlinear systems with symmetries. Our framework implements a hybrid controller that robustly combines motion primitives from a pre-defined library. The closed-loop system is viewed as a hybrid system with flows given by a differential equation, jumps given by a difference equation, and two sets where these dynamics are allowed. We show that our hybrid controller for implementation of motion planning algorithms confers to the closed-loop system robustness properties to a large class of perturbations.},
	keywords = {hybrid systems},
	doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4586827\&isnumber=4586444:PDF;SLIDES:Talks/ACC2008-ThA14-2.pdf:PowerPoint},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/26.pdf},
	author = {R. G. Sanfelice and E. Frazzoli}
}
