@article {zhang2015auro, title = {Computationally-Aware Control of Autonomous Vehicles: A Hybrid Model Predictive Control Approach}, journal = {Autonomous Robots}, year = {2015}, pages = {503-517}, doi = {10.1007/s10514-015-9469-5}, url = {http://dx.doi.org/10.1007/s10514-015-9469-5}, author = {Kun Zhang and Jonathan Sprinkle and Ricardo G. Sanfelice} }