@conference {jalalmaab2015model,
	title = {Model predictive path planning with time-varying safety constraints for highway autonomous driving},
	booktitle = {Advanced Robotics (ICAR), 2015 International Conference on},
	year = {2015},
	pages = {213{\textendash}217},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Jalalmaab, Mehdi and Fidan, Baris and Jeon, Soo and Falcone, Paolo}
}
