@inproceedings{eprints4022,
       publisher = {IEEE},
          author = {Robin Verschueren and Stijn De Bruyne and Mario Zanon and Janick V. Frasch and Moritz Diehl},
           pages = {2505--2510},
           title = {Towards time-optimal race car driving using nonlinear MPC in real-time},
       booktitle = {53rd IEEE Conference on Decision and Control},
            year = {2014},
        abstract = {This paper addresses the real-time control of autonomous vehicles under a minimum traveling time objective. Control inputs for the vehicle are computed from a nonlinear model predictive control (MPC) scheme. The time-optimal objective is reformulated such that it can be tackled by existing efficient algorithms for real-time nonlinear MPC that build on the generalized Gauss-Newton method. We numerically validate our approach in simulations and present a real-world hardware setup of miniature race cars that is used for an experimental comparison of different approaches.},
             url = {http://eprints.imtlucca.it/4022/}
}