@inproceedings{desaraju2018efficient,
  title={Efficient prioritization in explicit adaptive nmpc through reachable-space search},
  author={Desaraju, Vishnu R and Michael, Nathan},
  booktitle={2018 AIAA Guidance, Navigation, and Control Conference},
  pages={1847},
  doi={https://doi.org/10.2514/6.2018-1847},
  year={2018}
}