@InProceedings{article:safe_RHC_CDC2006,
  author =      {David A. Anisi and John W.C. Robinson and Petter {\"O}gren},
  title =      {Safe receding horizon control of an aerial vehicle},
  booktitle = {Proc. of the $45^{\textrm{th}}$ IEEE Conference on Decision and Control},
  year =      {2006},
  address =      {San Diego, CA},
  month =      {Dec.}
}