Kathrin Flaßkamp, Sina Ober-Blöbaum. Variational formulation and optimal control of hybrid lagrangian systems. In Marco Caccamo, Emilio Frazzoli, Radu Grosu, editors, Proceedings of the 14th ACM International Conference on Hybrid Systems: Computation and Control, HSCC 2011, Chicago, IL, USA, April 12-14, 2011. pages 241-250, ACM, 2011. [doi]
Abstract is missing.