@conference{Pajarinenetal17,
  title = {Hybrid control trajectory optimization under uncertainty},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5694--5701},
  month = sep,
  year = {2017},
  author = {Pajarinen, J. and Kyrki, V. and Koval, M. and Srinivasa, S and Peters, J. and Neumann, G.},
  doi = {10.1109/IROS.2017.8206460},
  month_numeric = {9}
}