@inproceedings{desaraju2017leveraging,
  title={Leveraging experience for computationally efficient adaptive nonlinear model predictive control},
  author={Desaraju, Vishnu R and Michael, Nathan},
  booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5314--5320},
  year={2017},
  month=5,
  organization={IEEE},
  doi={https://doi.org/10.1109/ICRA.2017.7989625}
}