@article {88,
	title = {On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints},
	journal = {Automatica},
	volume = {50},
	number = {2},
	year = {2014},
	month = {February},
	pages = {537{\textendash}546},
	keywords = {hybrid systems},
	doi = {http://www.sciencedirect.com/science/article/pii/S0005109813005335},
	author = {R. G. Sanfelice and S. Z. Yong and E. Frazzoli}
}
@conference {31,
	title = {Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications},
	booktitle = {Proc. 47th IEEE Conference on Decision and Control},
	series = {NULL},
	year = {2008},
	pages = {2117{\textendash}2122},
	abstract = {Recently, Linear Temporal Logic (LTL) has been employed as a tool for formal speci?cation in dynamical control systems. With this formal approach, control systems can be designed to provably accomplish a large class of complex tasks speci?ed via LTL. For this purpose, language generating Buchi automata with ?nite abstractions of dynamical systems have been used in the literature. In this paper, we take a mathematical programming-based approach to control of a broad class of discrete-time dynamical systems, called Mixed Logic Dynamical (MLD) systems, with LTL speci?cations. MLDs include discontinuous and hybrid piecewise discrete-time linear systems. We apply these tools for model checking and optimal control of MLD systems with LTL speci?cations. Our algorithms exploit Mixed Integer Linear Programming (MILP) as well as, in the appropriate setting, Mixed Integer Quadratic Programming (MIQP) techniques. Our solution approach introduces a general technique useful in representing LTL constraints as mixed-integer linear constraints},
	keywords = {hybrid systems},
	doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4739370\&isnumber=4738560},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/31.pdf},
	author = {S. Karaman and R. G. Sanfelice and E. Frazzoli}
}
@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}
}
@conference {23,
	title = {On the optimality of {D}ubins paths across heterogeneous terrain},
	booktitle = {Hybrid Systems: Computation and Control},
	series = {Lecture Notes in Computer Science},
	volume = {4981},
	year = {2008},
	pages = {457-470},
	publisher = {Springer Berlin / Heidelberg},
	organization = {Springer Berlin / Heidelberg},
	chapter = {On the optimality of {D}ubins paths across heterogeneous terrain},
	abstract = {We derive optimality conditions for the paths of Dubins vehicle when the state space is given by the union of two patches with different vehicle constant forward velocity. We recast this problem as a hybrid optimal control problem and solve it using recent optimality principles for hybrid systems. Among the optimality conditions, we derive a {\textquoteleft}{\textquoteleft}refraction" law at the boundary of the patches which generalizes the so-called Snell{\textquoteright}s law of refraction in optics to the case of paths with bounded maximum curvature.},
	keywords = {hybrid systems},
	doi = {http://www.springerlink.com/content/c3g1478530540265/fulltext.pdf:PDF;HTML:http\://www.springerlink.com/content/c3g1478530540265/:URL},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/23.pdf},
	author = {R. G. Sanfelice and E. Frazzoli}
}
