# NMPC for Racing Using a Singularity-Free Path-Parametric Model with Obstacle Avoidance

> Research article (IFAC-PapersOnLine, 2020) · cited 52× · AI/ML

**Wikidata**: [openalex:W3155794842](https://www.wikidata.org/wiki/openalex:W3155794842)  
**Source**: https://4ort.xyz/entity/nmpc-for-racing-using-a-singularity-free-path-parametric-model-with-obstacle-avoidance