@article{stochasticmpcwithmultimodalpredictions,
  title = {Stochastic MPC with Multi-modal Predictions for Traffic Intersections},
  author = {Siddharth H. Nair and Vijay Govindarajan and Theresa Lin and Chris Meissen and H. Eric Tseng and Francesco Borrelli},
  year = {2021},
  eprint = {2109.09792},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.09792v3},
}