A probabilistic particle control approximation of chance constrained stochastic predictive control. Blackmore, L.; Ono, M.; Bektassov, A.; and Williams, B. C. IEEE Transactions on Robotics and Automation, ??(?):???-???, ???, 201?.
bibtex   
@Article{Blackmore10,
  Title                    = {A probabilistic particle control approximation of chance constrained stochastic predictive control},
  Author                   = {Lars Blackmore and Masahiro Ono and Askar Bektassov and Brian C. Williams},
  Journal                  = itra,
  Year                     = {201?},
  Month                    = {???},
  Number                   = {?},
  Pages                    = {???-???},
  Volume                   = {??}
}
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