# An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles

Frasch, J. V. and Gray, A. and Zanon, Mario and Ferreau, H. J. and Sager, S. and Borrelli, F. and Diehl, M. An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles. In: European Control Conference (ECC), July 17-19, 2013, Zurich, Switzerland pp. 4136-4141. ISBN 978-3-033-03962-9. (2013)