@article{closedloopmotionplanningfor,
  title = {Closed-Loop Motion Planning for Differentially Flat Systems: A Time-Varying Optimization Framework},
  author = {Tianqi Zheng and John W. Simpson-Porco and Enrique Mallada},
  year = {2023},
  eprint = {2310.13090},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2310.13090v1},
}