@INPROCEEDINGS{Ferreau2012a,
  author = {H.J. Ferreau and T. Kraus and M. Vukov and W. Saeys and M. Diehl},
  title = {High-Speed Moving Horizon Estimation based on Automatic Code Generation},
  booktitle = {Proceedings of the 51th IEEE Conference on Decision and Control (CDC 2012), Hawaii},
  pages = {687--692},
  year = {2012},
  keywords = {tractor, ACADO, qpOASES}
}