@INPROCEEDINGS{Frasch2013,
  author = {J.V. Frasch and A. Gray and M. Zanon and H.J. Ferreau and S. Sager and F. Borelli and M. Diehl},
  title = {An Auto-generated Nonlinear MPC Algorithm for Real-Time Obstacle Avoidance of Ground Vehicles},
  booktitle = {Proceedings of the European Control Conference (ECC'13), Zurich, Switzerland},
  pages = {4136--4141},
  year = {2013},
  keywords = {vehicle, ACADO, qpOASES}
}