Adwait Mane Dylan Swart Jason White Christian Hubicki Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots. 5762-5768 2022 ICRA https://doi.org/10.1109/ICRA46639.2022.9812199 conf/icra/2022 db/conf/icra/icra2022.html#ManeSWH22