?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Lyons%2C+D&rft.aulast=Lyons&rft.aufirst=D&rft.date=2011&rft.atitle=Chance-constrained+Model+Predictive+Control+for+Multi-Agent+Systems.&rft.title=arXiv&rft.genre=article