@inproceedings{desaraju2017experience,
  title={Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty.},
  author={Desaraju, Vishnu R and Spitzer, Alexander and Michael, Nathan},
  booktitle={Robotics: Science and Systems},
  month=7,
  year={2017},
  url={http://www.roboticsproceedings.org/rss13/p67.pdf}
}