@article{desaraju2018leveraging,
  title={Leveraging experience for robust, adaptive nonlinear MPC on computationally constrained systems with time-varying state uncertainty},
  author={Desaraju, Vishnu R and Spitzer, Alexander E and O’Meadhra, Cormac and Lieu, Lauren and Michael, Nathan},
  journal={The International Journal of Robotics Research},
  volume={37},
  number={13-14},
  pages={1690--1712},
  year={2018},
  month=12,
  doi={https://doi.org/10.1177/0278364918793717},
  publisher={SAGE Publications Sage UK: London, England}
}