@incollection{eprints4021,
           pages = {41--57},
       publisher = {Springer},
            year = {2014},
          number = {455},
           title = {Model Predictive Control of Autonomous Vehicles},
       booktitle = {Optimization and Optimal Control in Automotive Systems},
          author = {Mario Zanon and Janick V. Frasch and Milan Vukov and Sebastian Sager and Moritz Diehl},
          series = {Lecture Notes in Control and Information Sciences},
        abstract = {The control of autonomous vehicles is a challenging task that requires advanced control schemes. Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) are optimization-based control and estimation techniques that are able to deal with highly nonlinear, constrained, unstable and fast dynamic systems. In this chapter, these techniques are detailed, a descriptive nonlinear model is derived and the performance of the proposed control scheme is demonstrated in simulations of an obstacle avoidance scenario on a low-fricion icy road.},
             url = {http://eprints.imtlucca.it/4021/}
}