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}
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@misc{giftthaler2017autodiff,
    author = "Markus Giftthaler and Michael Neunert and Markus St{\"a}uble and Marco Frigerio and Claudio Semini and Jonas Buchli",
    title = {{Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation}},
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    year = {2017},
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  }
@phdthesis{frisonalgorithms,
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  author={Frison, Gianluca},
  school={Technical University of Denmark},
  year = {2015}
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@misc{neunert2017mpc,
    title = {{Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds}},
    author = {Michael Neunert and Markus St{\"a}uble and Markus Giftthaler and Carmine D. Bellicoso and Jan Carius and Christian Gehring and Marco Hutter and Jonas Buchli},
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}
@misc{giftthaler2017family,
author={Giftthaler, Markus and Neunert, Michael and St{\"a}uble, Markus and Buchli, Jonas and Diehl, Moritz},
title={{A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control}},
howpublished = {IROS 2018},
year = {2018},
url = {https://arxiv.org/abs/1711.11006}
} 

}
