@article {ieee.tr.control.systems.technology-PetersAPTI12,
	title = {Threat-based hazard avoidance for semi- autonomous vehicles using nonlinear model predictive control},
	journal = {IEEE Transactions on Control Systems Technology},
	year = {2012},
	author = {Steven C. Peters and Anderson, S. and Tom Pilutti and H. Eric Tseng and Karl Iagnemma}
}