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Leong, Y. P., and T. D. Murphey, "Feature Localization Using Kinematics and Impulsive Hybrid Optimization", IEEE Transactions on Automation Science and Engineering, vol. 10, pp. 957-968, 2013.
Leong, Y. P., and T. D. Murphey, "Second-order switching time and magnitude optimization for impulsive hybrid systems", American Control Conference (ACC), pp. 6213-6218, 2013.