@article{datadrivenstrategiesforhierarchical,
  title = {Data-Driven Strategies for Hierarchical Predictive Control in Unknown Environments},
  author = {Charlott Vallon and Francesco Borrelli},
  year = {2021},
  eprint = {2105.06005},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.06005v2},
}