?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Frasch%2C+J.+V.&rft.aulast=Frasch&rft.aufirst=J.+V.&rft.date=July+2013&rft.title=An+auto-generated+nonlinear+MPC+algorithm+for+real-time+obstacle+avoidance+of+ground+vehicles&rft.btitle=European+Control+Conference+(ECC)%2C+2013&rft.isbn=978-3-033-03962-9&rft.genre=proceeding