@ARTICLE{Ferreau2014,
  author = {H.J. Ferreau and C. Kirches and A. Potschka and H.G. Bock and M. Diehl},
  title = {{qpOASES}: A parametric active-set algorithm for quadratic programming},
  journal = {Mathematical Programming Computation},
  year = {2014},
  volume = {6},
  number = {4},
  pages = {327--363},
  keywords = {qpOASES, parametric quadratic programming, active set method, model predictive control}
}