@INPROCEEDINGS{falcone2008hierarchical,
  author = {Falcone, Paolo and Borrelli, Francesco and Tseng, H Eric and Asgari,
	Jahan and Hrovat, Davor},
  title = {A hierarchical model predictive control framework for autonomous
	ground vehicles},
  booktitle = {2008 American Control Conference},
  year = {2008},
  pages = {3719--3724},
  organization = {IEEE}
}

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