@article{abclmpcsafesamplebasedlearningmpcfor,
  title = {ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions},
  author = {Brijen Thananjeyan and Ashwin Balakrishna and Ugo Rosolia and Joseph E. Gonzalez and Aaron Ames and Ken Goldberg},
  year = {2020},
  eprint = {2003.01410},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2003.01410v2},
}