Tim Brüdigam Jie Zhan Dirk Wollherr Marion Leibold Collision Avoidance with Stochastic Model Predictive Control for Systems with a Twofold Uncertainty Structure. 432-438 2021 ITSC https://doi.org/10.1109/ITSC48978.2021.9564589 conf/itsc/2021 db/conf/itsc/itsc2021.html#BrudigamZWL21