Multiple Instantaneous Collisions in a Variational Framework. - Vlad Seghete; Todd D. Murphey (CDC, 2009)

Variational solutions to simultaneous collisions between multiple rigid bodies. - Vlad Seghete; Todd D. Murphey (ICRA, 2010)

Conditions for uniqueness in simultaneous impact with application to mechanical design. - Vlad Seghete; Todd D. Murphey (ICRA, 2012)

Continuous-time optimal control of impacting mechanical systems via a projected Hamilton's principle. - Vlad Seghete; Todd D. Murphey (ACC, 2014)

A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences. - Vlad Seghete; Todd D. Murphey (IEEE Trans Autom. Sci. Eng., 2014)