@article{
PorVal:15-044,
author={C. Portilla and F. Valencia and J. Espinosa and A. N{\'{u}}{\~{n}}ez and
B. {D}e Schutter},
title={Model-Based Predictive Control for Bicycling in Urban Intersections},
journal={Transportation Research Part C},
volume={70},
pages={27--41},
month=sep,
year={2016},
doi={
10.1016/j.trc.2015.11.016}
}