Flatness-Based Mixed-Integer Obstacle Avoidance MPC for Collision-Safe Automated Urban Driving. - Alexander L. Gratzer; Maximilian M. Broger; Alexander Schirrer; Stefan Jakubek (CoDIT, 2023)

Two-Layer MPC Architecture for Efficient Mixed-Integer-Informed Obstacle Avoidance in Real-Time. - Alexander L. Gratzer; Maximilian M. Broger; Alexander Schirrer; Stefan Jakubek (IEEE Trans. Intell. Transp. Syst., 2024)