Vehicle lateral control for automated highway systems. - Richard T. O'Brien; Pablo A. Iglesias; Thomas J. Urban (IEEE Trans. Control. Syst. Technol., 1996)

A Primal-Dual Interior-Point Method for Nonlinear Programming with Strong Global and Local Convergence Properties. - André L. Tits; Andreas Wächter; Sasan Bakhtiari; Thomas J. Urban; Craig T. Lawrence (SIAM J. Optim., 2003)