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Caldwell, T. M., and T. D. Murphey, "Relaxed optimization for mode estimation in skid steering", Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp. 5423 -5428, may, 2010.  (427.02 KB)
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Caldwell, T. M., and T. D. Murphey, "Second-order optimal estimation of slip state for a simple slip-steered vehicle", Automation Science and Engineering, 2009. CASE 2009. IEEE International Conference on: IEEE, pp. 133–139, 2009.  (510.44 KB)
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Caldwell, T. M., and T. D. Murphey, "An adjoint method for second-order switching time optimization", Decision and Control (CDC), 2010 49th IEEE Conference on: IEEE, pp. 2155–2162, 2010.  (335.11 KB)
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Caldwell, T. M., and T. D. Murphey, "Single integration optimization of linear time-varying switched systems", American Control Conference (ACC), 2011: IEEE, pp. 2024–2030, 2011.  (258.46 KB)