@inproceedings{moriyasu2026bilevel,
  title         = {Bilevel {MPC} for Linear Systems: A Tractable Reduction and Continuous Connection to Hierarchical {MPC}},
  author        = {Moriyasu, R. and Amo Alonso, C. and Pavone, M.},
  booktitle     = {2026 IEEE Conference on Decision and Control (CDC)},
  year          = {2026},
  eprint        = {2603.29265},
  archivePrefix = {arXiv}
}