@inproceedings{eprints4007,
          author = {Robin Verschueren and Mario Zanon and Rien Quirynen and Moritz Diehl},
           pages = {141--147},
            year = {2016},
       publisher = {IEEE},
       booktitle = {2016 European Control Conference (ECC)},
           title = {Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm},
        abstract = {This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars.},
             url = {http://eprints.imtlucca.it/4007/}
}