@article{piccinini2023predictive,
  title={A predictive neural hierarchical framework for on-line time-optimal motion planning and control of black-box vehicle models},
  author={Piccinini, Mattia and Larcher, Matteo and Pagot, Edoardo and Piscini, Davide and Pasquato, Leone and Biral, Francesco},
  journal={Vehicle system dynamics},
  volume={61},
  number={1},
  pages={83--110},
  year={2023},
  publisher={Taylor \& Francis}
}