1. A Unified MPC Envelope Control Formulation for Toyota Guardian and Chauffeur. Issue 16 (2022) Authors: Bobier-Tiu, Carrie G.; Koehler, Sarah M.; Brown, Matthew; Ahumada, Manuel Journal: IFAC-PapersOnLine Issue: Volume 55:Issue 16(2022) Page Start: 19 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗