# Contract-based Hierarchical Model Predictive Control and Planning for Autonomous Vehicle

> Research article (IFAC-PapersOnLine, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3156323027](https://www.wikidata.org/wiki/openalex:W3156323027)  
**Source**: https://4ort.xyz/entity/contract-based-hierarchical-model-predictive-control-and-planning-for-autonomous-vehicle