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iLQR for Piecewise-Smooth Hybrid Dynamical Systems

Nathan J. Kong, George Council, Aaron M. Johnson. iLQR for Piecewise-Smooth Hybrid Dynamical Systems. In 60th IEEE Conference on Decision and Control, CDC 2021, Austin, TX, USA, December 14-17, 2021. pages 5374-5381, IEEE, 2021. [doi]

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