@inproceedings{thananjeyan2021abc,
  title={Abc-lmpc: Safe sample-based learning mpc for stochastic nonlinear dynamical systems with adjustable boundary conditions},
  author={Thananjeyan, Brijen and Balakrishna, Ashwin and Rosolia, Ugo and Gonzalez, Joseph E and Ames, Aaron and Goldberg, Ken},
  booktitle={Algorithmic Foundations of Robotics XIV: Proceedings of the Fourteenth Workshop on the Algorithmic Foundations of Robotics 14},
  pages={1--17},
  year={2021},
  organization={Springer International Publishing},
  url = {http://ames.caltech.edu/thananjeyan2020abc.pdf}
}

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