@article{safehierarchicalmodelpredictivecontrol,
  title = {Safe Hierarchical Model Predictive Control and Planning for Autonomous Systems},
  author = {Markus Koegel and Mohamed Ibrahim and Christian Kallies and Rolf Findeisen},
  year = {2022},
  eprint = {2203.14269},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.14269v1},
}