@article{eprints3640,
       publisher = {IEEE},
         journal = {IEEE Transactions on Control Systems Technology},
            year = {2017},
           title = {Spatial-based predictive control and geometric corridor planning for adaptive cruise control coupled with obstacle avoidance},
          author = {M. Graf Plessen and Daniele Bernardini and Hasan Esen and Alberto Bemporad},
             url = {http://eprints.imtlucca.it/3640/}
}