Gradient geodesic and Newton geodesic HMP algorithms for the optimization of hybrid systems

@article{Taringoo2011GradientGA,
  title={Gradient geodesic and Newton geodesic HMP algorithms for the optimization of hybrid systems},
  author={Farzin Taringoo and Peter E. Caines},
  journal={Annual Reviews in Control},
  year={2011},
  volume={35},
  pages={187-198}
}