Autonomous Formation Switching for Multiple, Mobile Robots. - Henrik Axelsson; Abubakr Muhammad; Magnus Egerstedt (ADHS, 2003)

Algorithm for Switching-Time Optimization in Hybrid Dynamical Systems. - Henrik Axelsson; Magnus Egerstedt; Yorai Wardi; George J. Vachtsevanos (ISIC, 2005)

Reactive robot navigation using optimal timing control. - Henrik Axelsson; Magnus Egerstedt; Yorai Wardi (ACC, 2005)

A Provably Convergent Algorithm for Transition-Time Optimization in Switched Systems. - Henrik Axelsson; Yorai Wardi; Magnus Egerstedt; Erik I. Verriest (CDC/ECC, 2005)

Optimal mode-switching for Hybrid Systems with unknown initial State. - Henrik Axelsson; Mauro Boccadoro; Yorai Wardi; Magnus Egerstedt (ADHS, 2006)

Trade-offs between precision and computation horizon in real-time optimal control of switched systems. - Henrik Axelsson; Magnus Egerstedt; Yorai Wardi (ACC, 2006)

Optimal Switching Surfaces in Behavior-Based Robotics. - Henrik Axelsson; Magnus Egerstedt; Yorai Wardi (CDC, 2006)

Transition-time optimization for switched-mode dynamical systems. - Magnus Egerstedt; Yorai Wardi; Henrik Axelsson (IEEE Trans. Autom. Control., 2006)

Optimal Control of Switched Autonomous Systems: Theory, Algorithms, and Robotic Applications. - Henrik Axelsson (2006)