@article{r2nmpcarealtimereducedrobustified,
  title = {R$^2$NMPC: A Real-Time Reduced Robustified Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets for Autonomous Vehicle Motion Control},
  author = {Baha Zarrouki and João Nunes and Johannes Betz},
  year = {2023},
  eprint = {2311.06420},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.06420v1},
}