# Safe hierarchical model predictive control and planning for autonomous systems

> Research article (International Journal of Robust and Nonlinear Control, 2023) · cited 16× · AI/ML

**Wikidata**: [openalex:W4381664151](https://www.wikidata.org/wiki/openalex:W4381664151)  
**Source**: https://4ort.xyz/entity/safe-hierarchical-model-predictive-control-and-planning-for-autonomous-systems