@article{contractbasedhierarchicalcontrolusing,
  title = {Contract-based hierarchical control using predictive feasibility value functions},
  author = {Felix Berkel and Kim Peter Wabersich and Hongxi Xiang and Elias Milios},
  year = {2025},
  eprint = {2504.12036},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.12036v1},
}