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Caldwell, T. M., and T. D. Murphey, "Switching mode generation and optimal estimation with application to skid-steering", Automatica, vol. 47, no. 1, pp. 50 - 64, 2011.  (645.73 KB)
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)
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)
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)
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)
Caldwell, T. M., and T. D. Murphey, "Projection-Based Switched System Optimization", American Control Conference, 2012.  (166.88 KB)
Caldwell, T. M., and T. D. Murphey, "Projection-Based Switched System Optimization: Absolute Continuity of the Line Search", IEEE Int. Conf. on Decision and Control (CDC), 2012.  (474.23 KB)
Chirikjian, G. S., H. Choset, M. Morales, and T. D. Murphey, Algorithmic Foundations of Robotics VIII: Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics, , vol. 57: Springer, 2010.
Caldwell, T. M., and T. D. Murphey, "Projection-based optimal mode scheduling", IEEE Conference on Decision and Control, 2013.