{"id":"https://openalex.org/W4388917681","doi":"https://doi.org/10.1016/j.ifacol.2023.10.508","title":"Safe Intersection Coordination with Mixed Traffic: From Estimation to Control","display_name":"Safe Intersection Coordination with Mixed Traffic: From Estimation to Control","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4388917681","doi":"https://doi.org/10.1016/j.ifacol.2023.10.508"},"language":"en","primary_location":{"id":"doi:10.1016/j.ifacol.2023.10.508","doi":"https://doi.org/10.1016/j.ifacol.2023.10.508","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2023.10.508","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1016/j.ifacol.2023.10.508","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100373700","display_name":"Xiao Chen","orcid":"https://orcid.org/0000-0002-4663-9390","observed_orcids":["https://orcid.org/0000-0002-4663-9390","https://orcid.org/0000-0001-7448-9011"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Xiao Chen","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021346967","display_name":"Frank J. Jiang","orcid":"https://orcid.org/0000-0001-6653-5508","observed_orcids":["https://orcid.org/0000-0001-6653-5508"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Frank J. Jiang","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080369786","display_name":"Vandana Narri","orcid":"https://orcid.org/0000-0001-6030-2869","observed_orcids":["https://orcid.org/0000-0001-6030-2869"]},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Vandana Narri","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","Research and Development, Scania CV AB, 151 87 S\u00f6dert\u00e4lje, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Research and Development, Scania CV AB, 151 87 S\u00f6dert\u00e4lje, Sweden","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101270103","display_name":"Mustafa Adnan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Mustafa Adnan","raw_affiliation_strings":["Research and Development, Scania CV AB, 151 87 S\u00f6dert\u00e4lje, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development, Scania CV AB, 151 87 S\u00f6dert\u00e4lje, Sweden","institution_ids":["https://openalex.org/I1294350288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020507591","display_name":"Jonas M\u00e5rtensson","orcid":"https://orcid.org/0000-0002-3672-5316","observed_orcids":["https://orcid.org/0000-0002-3672-5316"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Jonas M\u00e5rtensson","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045975901","display_name":"Karl Henrik Johansson","orcid":"https://orcid.org/0000-0001-9940-5929","observed_orcids":["https://orcid.org/0000-0001-9940-5929"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Karl H. Johansson","raw_affiliation_strings":["Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020507591","https://openalex.org/A5021346967","https://openalex.org/A5045975901","https://openalex.org/A5080369786","https://openalex.org/A5100373700","https://openalex.org/A5101270103"],"corresponding_institution_ids":["https://openalex.org/I1294350288","https://openalex.org/I86987016"],"apc_list":{"value":0,"currency":"USD","value_usd":0},"apc_paid":null,"fwci":0.1744,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.35541945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"56","issue":"2","first_page":"5697","last_page":"5702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9491999745368958,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9491999745368958,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.0142000000923872,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.005799999926239252,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/intersection-coordination","display_name":"intersection coordination","score":0.9470000267028809},{"id":"https://openalex.org/keywords/connected-and-automated-vehicles","display_name":"connected and automated vehicles","score":0.9070000052452087},{"id":"https://openalex.org/keywords/mixed-traffic-flow","display_name":"mixed traffic","score":0.9800000190734863},{"id":"https://openalex.org/keywords/human-driven-vehicles","display_name":"human-driven vehicles","score":0.7639999985694885},{"id":"https://openalex.org/keywords/intelligent-intersections","display_name":"intelligent intersections","score":0.9020000100135803},{"id":"https://openalex.org/keywords/zonotopes","display_name":"zonotopes","score":0.7900000214576721},{"id":"https://openalex.org/keywords/distributed-model-predictive-control","display_name":"distributed model predictive control","score":0.9789999723434448},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.6890000104904175}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8349635601043701},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7995989918708801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6836754679679871},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4839949607849121},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4674910604953766},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.45261508226394653},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4363316297531128},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.26045024394989014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20471537113189697},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1967131495475769},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10131895542144775},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.ifacol.2023.10.508","doi":"https://doi.org/10.1016/j.ifacol.2023.10.508","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2023.10.508","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.ifacol.2023.10.508","doi":"https://doi.org/10.1016/j.ifacol.2023.10.508","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2023.10.508","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.7207000255584717},{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5142999887466431}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2051110650","https://openalex.org/W2472586899","https://openalex.org/W2525715571","https://openalex.org/W2530663560","https://openalex.org/W2605270919","https://openalex.org/W2750147881","https://openalex.org/W2789581209","https://openalex.org/W2890396537","https://openalex.org/W2902617280","https://openalex.org/W2930359834","https://openalex.org/W2980926605","https://openalex.org/W2993376333","https://openalex.org/W3047185941","https://openalex.org/W3134282361","https://openalex.org/W3153130015","https://openalex.org/W3186774197","https://openalex.org/W3210578369","https://openalex.org/W4230709235","https://openalex.org/W4233072381","https://openalex.org/W4285820893","https://openalex.org/W4300446604","https://openalex.org/W4308080056","https://openalex.org/W4366754182","https://openalex.org/W6731923558","https://openalex.org/W6846340972"],"related_works":["https://openalex.org/W4221161278","https://openalex.org/W4308080056","https://openalex.org/W4297200954","https://openalex.org/W4417251968","https://openalex.org/W4405095389","https://openalex.org/W2919451240","https://openalex.org/W2980574200","https://openalex.org/W4413017803","https://openalex.org/W4408696556","https://openalex.org/W4213427190"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,68],"propose":[4],"an":[5,96,163],"integrated":[6],"framework":[7,195,207],"for":[8,76,116],"safe":[9,165,184],"intersection":[10,23,72,91],"coordination":[11],"of":[12,45,52,54,172,192,205],"connected":[13,36],"and":[14,38,79,85,118],"automated":[15],"vehicles":[16,47],"(CAVs)":[17],"in":[18,109,210],"mixed":[19],"traffic.":[20],"An":[21],"intelligent":[22,71],"is":[24,180,196,208],"introduced":[25],"as":[26,149],"a":[27,101,153,176,214],"central":[28],"node":[29],"to":[30,41,73,103,114,126,130,182],"orchestrate":[31],"state":[32,58,93,111],"data":[33,59,94],"sharing":[34],"among":[35],"agents":[37,62],"enable":[39],"CAV":[40,160],"acknowledge":[42],"the":[43,50,70,90,105,110,128,133,136,142,146,150,159,169,178,188,199,218],"presence":[44],"human-driven":[46],"(HDVs)":[48],"beyond":[49],"line":[51],"sight":[53],"onboard":[55,158],"sensors.":[56],"Since":[57],"shared":[60],"between":[61],"might":[63],"be":[64,183],"uncertain":[65],"or":[66],"delayed,":[67],"design":[69],"safely":[74],"compensate":[75,115],"these":[77],"uncertainties":[78],"delays":[80],"using":[81,145,198],"robust":[82],"set":[83,129,148],"estimation":[84],"forward":[86,123],"reachability":[87,124],"analysis.":[88],"When":[89],"receives":[92],"from":[95],"agent,":[97],"it":[98,121],"first":[99],"generates":[100],"zonotope":[102],"capture":[104,131],"possible":[106,134],"measurement":[107],"noise":[108],"estimate.":[112],"Then,":[113],"communication":[117],"processing":[119],"delays,":[120],"uses":[122],"analysis":[125],"enlarge":[127],"all":[132],"states":[135],"agent":[137],"could":[138],"have":[139,221],"occupied":[140],"throughout":[141],"delays.":[143],"Finally,":[144],"resulting":[147],"initial":[151],"condition,":[152],"distributed":[154],"model":[155],"predictive":[156],"control":[157],"will":[161],"plan":[162],"invariant":[164],"motion":[166],"by":[167],"considering":[168],"worst-case":[170],"behavior":[171],"human":[173],"drivers.":[174],"As":[175],"result,":[177],"vehicle":[179],"guaranteed":[181],"while":[185],"driving":[186],"through":[187],"intersection.":[189],"A":[190],"prototype":[191],"our":[193,206],"proposed":[194],"implemented":[197],"Small-Vehicles-for-Autonomy":[200],"(SVEA)":[201],"platform.":[202],"The":[203],"effectiveness":[204],"evaluated":[209],"experiments":[211],"based":[212],"on":[213],"challenging":[215],"scenario":[216],"where":[217],"collision":[219],"would":[220],"occurred":[222],"without":[223],"efficient":[224],"coordination.":[225]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2023-11-23T00:00:00"}