@INPROCEEDINGS{Dimitrov2009,
  author = {D. Dimitrov and P.-B. Wieber and O. Stasse and H.J Ferreau and H. Diedam},
  title = {An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan},
  year = {2009},
  pages = {1171--1176},
  keywords = {model predictive control, active set QP solver, robotics}
}