@article{piazza2024mptree,
  title={MPTree: A sampling-based vehicle motion planner for real-time obstacle avoidance},
  author={Piazza, Mattia and Piccinini, Mattia and Taddei, Sebastiano and Biral, Francesco},
  journal={IFAC-PapersOnLine},
  volume={58},
  number={10},
  pages={146--153},
  year={2024},
  publisher={Elsevier}
}