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Author(s):
Passenberg, B.; Sobotka, M.; Stursberg, O.; Buss, M.; Caines, P. E. 
Title:
An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid Systems with Partitioned State Space 
Book / Congress title:
Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010) 
Year:
2010