Daniele Bernardini David Muñoz de la Peña Alberto Bemporad Emilio Frazzoli Simultaneous Optimal Control and Discrete Stochastic Sensor Selection. 61-75 2009 HSCC http://dx.doi.org/10.1007/978-3-642-00602-9_5 conf/hybrid/2009 db/conf/hybrid/hscc2009.html#BernardiniPBF09