@article{flatnessbasedmpcforunderactuatedsurface,
  title = {Flatness-based MPC for underactuated surface vessels in confined areas},
  author = {Simon Helling and Max Lutz and Thomas Meurer},
  year = {2021},
  eprint = {2103.13040},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.13040v1},
}