@article{blackmore_ono_bektassov_williams_2010, 
  title={A Probabilistic Particle-Control Approximation of Chance-Constrained Stochastic Predictive Control}, 
  volume={26}, 
  DOI={10.1109/tro.2010.2044948}, 
  publisher={Institute of Electrical and Electronics Engineers (IEEE)}, 
  author={Blackmore and Ono and Bektassov and Williams}, 
  year={2010}
  }