# A hierarchical Model Predictive Control framework for on-road formation control of autonomous vehicles

> Research article (2016 IEEE Intelligent Vehicles Symposium (IV), 2016) · cited 58× · AI/ML

**Wikidata**: [openalex:W2341044251](https://www.wikidata.org/wiki/openalex:W2341044251)  
**Source**: https://4ort.xyz/entity/a-hierarchical-model-predictive-control-framework-for-on-road-formation-control-of-autonomous-vehicles