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Summary: Is there Life after Zeno?
Taking Executions Past the Breaking (Zeno) Point
Aaron D. Ames, Haiyang Zheng, Robert D. Gregg and Shankar Sastry
Department of Electrical Engineering and Computer Sciences
University of California at Berkeley
Berkeley, CA 94720
{adames,hyzheng,rdgregg,sastry}@eecs.berkeley.edu
Abstract-- Understanding Zeno phenomena plays an impor-
tant role in understanding hybrid systems. A natural--and
intriguing--question to ask is: what happens after a Zeno
point? Inspired by the construction of [9], we propose a method
for extending Zeno executions past a Zeno point for a class
of hybrid systems: Lagrangian hybrid systems. We argue that
after the Zeno point is reached, the hybrid system should switch
to a holonomically constrained dynamical system, where the
holonomic constraints are based on the unilateral constraints
on the configuration space that originally defined the hybrid
system. These principles are substantiated with a series of
examples.
I. INTRODUCTION
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