@inproceedings{rick2019autonomous,
	author = {Rick, Matthias and Clemens, Joachim and Sommer, Laura and Schill, Kerstin and B\"uskens, Christof},
	title = {Autonomous Driving Based on Nonlinear Model Predictive Control and	Multi-Sensor Fusion},
	booktitle = {10th IFAC Symposium on Intelligent Autonomous Vehicles (IAV2019)},
	year = {2019},
	abstract = {Algorithms for controlling fully autonomous systems must meet especially high requirements
	with respect to safety and robustness. A particularly challenging example are autonomous deep space
	missions, which we investigated in several projects. In this context, we showed that a safe and robust
	autonomous system can be realized through nonlinear model predictive control approaches using
	optimization techniques in combination with multi-sensor fusion based on an extended representation of
	uncertainty. The focus of this paper is on demonstrating the versatility of that concept by transferring the
	corresponding algorithms to the also very challenging application of autonomous driving. In particular,
	we propose a system concept for a self-driving car based on our methodology. Furthermore, we present
	results of a real world research vehicle that autonomously explores a parking lot, dynamically takes
	obstacles into account, and finally performs a parking maneuver.},
	keywords={opa3l}
}