@INPROCEEDINGS{Dimitrov2008,
  author = {D. Dimitrov and P.-B. Wieber and H.J. Ferreau and M. Diehl},
  title = {On the Implementation of {M}odel {P}redictive {C}ontrol for On-line Walking Pattern Generation},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA},
  year = {2008},
  pages = {2685--2690},
  keywords = {model predictive control, active set QP solver, robotics}
}