@article{piccinini2024impacts,
  title={Impacts of ggv constraints formulations on online minimum-time vehicle trajectory planning},
  author={Piccinini, Mattia and Taddei, Sebastiano and Piazza, Mattia and Biral, Francesco},
  journal={IFAC-PapersOnLine},
  volume={58},
  number={10},
  pages={87--93},
  year={2024},
  publisher={Elsevier}
}