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D. Journal Articles
 "On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints", Automatica, vol. 50, no. 2, pp. 537–546, February, 2014.
E. Conference Papers
 "Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications", Proc. 47th IEEE Conference on Decision and Control, pp. 2117–2122, 2008.
 "A Hybrid Control Framework for Robust Maneuver-based motion planning", Proc. 27th American Control Conference, pp. 2254–2259, 2008.
 "On the optimality of Dubins paths across heterogeneous terrain", Hybrid Systems: Computation and Control, vol. 4981: Springer Berlin / Heidelberg, pp. 457-470, 2008.