Rajeev Alur, Ashutosh Trivedi, Dominik Wojtczak. Optimal scheduling for constant-rate multi-mode systems. In Thao Dang, Ian M. Mitchell, editors, Hybrid Systems: Computation and Control (part of CPS Week 2012), HSCC'12, Beijing, China, April 17-19, 2012. pages 75-84, ACM, 2012. [doi]
Abstract is missing.