Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames. Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. In Raphaël M. Jungers, Necmiye Ozay, Alessandro Abate, editors, 7th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS 2021, Brussels, Belgium, July 7-9, 2021. Volume 54 of IFAC-PapersOnLine, pages 181-186, Elsevier, 2021. [doi]
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