@article{1313,
  author = {Chi Jin and Anson Maitland and John McPhee},
  title = {Hierarchical nonlinear moving horizon estimation of vehicle lateral speed and road friction coefficient},
  year = {2021},
  journal = {ASME Letters in Dynamic Systems and Control},
  volume = {1},
  number = {1},
  pages = {011005},
  publisher = {American Society of Mechanical Engineers},
}