@article {klemm2023non,
	title = {Non-Smooth Trajectory Optimization for Wheeled Balancing Robots with Contact Switches and Impacts},
	journal = {IEEE Transactions on Robotics},
	year = {2023},
	month = {2024/10},
	author = {Klemm, Victor and de Viragh, Yvain and Rohr, David and Siegwart, Roland and Tognon, Marco}
}
