The following publications are possibly variants of this publication:
- Consistent Approximations for the Optimal Control of Constrained Switched Systems - Part 1: A Conceptual AlgorithmRamanarayan Vasudevan, Humberto González, Ruzena Bajcsy, S. Shankar Sastry. siamco, 51(6):4463-4483, 2013. [doi]
- A descent algorithm for the optimal control of constrained nonlinear switched dynamical systemsHumberto González, Ramanarayan Vasudevan, Maryam Kamgarpour, Shankar S. Sastry, Ruzena Bajcsy, Claire J. Tomlin. hybrid 2010: 51-60 [doi]