Piecewise - Differentiable Trajectory Outcomes in Mechanical Systems Subject to Unilateral Constraints. - Andrew M. Pace; Samuel A. Burden (HSCC, 2017)

Decoupled limbs yield differentiable trajectory outcomes through intermittent contact in locomotion and manipulation. - Andrew M. Pace; Samuel A. Burden (ICRA, 2017)

Offline state estimation for hybrid systems via nonsmooth variable projection. - Jize Zhang; Andrew M. Pace; Samuel A. Burden; Aleksandr Y. Aravkin (Autom., 2020)