@article {2002,
	title = {On the reachability of quantized control systems},
	journal = {IEEE Trans. Automat. Contr. 47 (2002) 546-563},
	number = {SISSA;43/00/M},
	year = {2002},
	publisher = {SISSA Library},
	abstract = {In this paper, we study control systems whose input sets are quantized, i.e., finite or regularly distributed on a mesh. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report results on the reachable set of linear quantized systems, and on a particular but interesting class of nonlinear systems, i.e., nonholonomic chained-form systems. For such systems, we provide a complete characterization of the reachable set, and, in case the set is discrete, a computable method to completely and succinctly describe its structure. Implications and open problems in the analysis and synthesis of quantized control systems are addressed.},
	doi = {10.1109/9.995034},
	url = {http://hdl.handle.net/1963/1501},
	author = {Antonio Bicchi and Alessia Marigo and Benedetto Piccoli}
}
@article {2000,
	title = {Quantized control systems and discrete nonholonomy},
	journal = {Lagrangian and Hamiltonian Methods for Nonlinear Control : a proc. volume from the IFAC Workshop. Princeton, New Jersey, 16-18 March 2000 / ed. by N.E. Leonard, R. Ortega. - Oxford : Pergamon, 2000},
	number = {SISSA;44/00/M},
	year = {2000},
	publisher = {Elsevier},
	isbn = {0-08-043658-7},
	url = {http://hdl.handle.net/1963/1502},
	author = {Alessia Marigo and Benedetto Piccoli and Antonio Bicchi}
}
@inbook {2000,
	title = {Reachability Analysis for a Class of Quantized Control Systems},
	booktitle = {Proc. 39th IEEE Int. Conf. on Decision and Control 4 (2000) 3963-3968},
	year = {2000},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {We study control systems whose input sets are quantized. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report on some results on the reachable set of linear quantized systems, and study in detail an interesting class of nonlinear systems, forming the discrete counterpart of driftless nonholonomic continuous systems. For such systems, we provide a complete characterization of the reachable set, and, in the case the set is discrete, a computable method to describe its lattice structure.},
	doi = {10.1109/CDC.2000.912333},
	url = {http://hdl.handle.net/1963/3518},
	author = {Alessia Marigo and Benedetto Piccoli and Antonio Bicchi}
}
