{"id":"https://openalex.org/W7102028331","doi":"https://doi.org/10.48550/arxiv.2510.21751","title":"Real-time Mixed-Integer Quadratic Programming for Driving Behavior-Inspired Speed Bump Optimal Trajectory Planning","display_name":"Real-time Mixed-Integer Quadratic Programming for Driving Behavior-Inspired Speed Bump Optimal Trajectory Planning","publication_year":2025,"publication_date":"2025-10-10","ids":{"openalex":"https://openalex.org/W7102028331","doi":"https://doi.org/10.48550/arxiv.2510.21751"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2510.21751","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.21751","pdf_url":"https://arxiv.org/pdf/2510.21751","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.21751","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Dinh, Van Nam","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dinh, Van Nam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Phan, Van Vy","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Phan, Van Vy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Dang, Thai Son","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dang, Thai Son","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038767708","display_name":"Phan Van Du","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Phan, Van Du","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045442333","display_name":"The Anh Mai","orcid":"https://orcid.org/0000-0002-9316-7824","observed_orcids":["https://orcid.org/0000-0002-9316-7824"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mai, The Anh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Le, Van Chuong","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Le, Van Chuong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ho, Sy Phuong","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ho, Sy Phuong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Duong, Dinh Tu","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duong, Dinh Tu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Ta, Hung Cuong","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ta, Hung Cuong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.8476999998092651,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.8476999998092651,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.05009999871253967,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.027699999511241913,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory-planning","display_name":"trajectory planning","score":0.8859999775886536},{"id":"https://openalex.org/keywords/autonomous-vehicles","display_name":"autonomous vehicles","score":0.9649999737739563},{"id":"https://openalex.org/keywords/mixed-integer-quadratic-programming","display_name":"mixed-integer quadratic programming","score":0.9769999980926514},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.9789999723434448},{"id":"https://openalex.org/keywords/passenger-comfort","display_name":"passenger comfort","score":0.6800000071525574},{"id":"https://openalex.org/keywords/human-driving-behavior","display_name":"human driver behavior","score":0.6990000009536743},{"id":"https://openalex.org/keywords/real-time-optimization","display_name":"real-time optimization","score":0.7110000252723694},{"id":"https://openalex.org/keywords/urban-driving","display_name":"urban driving","score":0.753000020980835}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7317000031471252},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6377999782562256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6324999928474426},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6074000000953674},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5863000154495239},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4259999990463257},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4185999929904938},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.38679999113082886},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.37880000472068787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36800000071525574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36469998955726624},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3521000146865845},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.35179999470710754},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.32100000977516174},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3084000051021576},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C2983524802","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic model","level":3,"score":0.299699991941452},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27140000462532043},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2510.21751","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.21751","pdf_url":"https://arxiv.org/pdf/2510.21751","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.21751","doi":"https://doi.org/10.48550/arxiv.2510.21751","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.21751","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.21751","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.21751","pdf_url":"https://arxiv.org/pdf/2510.21751","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8787999749183655,"display_name":"Sustainable cities and communities"},{"id":"https://metadata.un.org/sdg/9","score":0.651199996471405,"display_name":"Industry, innovation and infrastructure"}],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/11","score":0.8124778270721436,"display_name":"Sustainable cities and communities"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,22,129],"novel":[4],"methodology":[5],"for":[6,109,136],"trajectory":[7,134],"planning":[8,135],"in":[9,81,133],"autonomous":[10],"vehicles":[11],"(AVs),":[12],"addressing":[13],"the":[14,41,57,88],"complex":[15],"challenge":[16],"of":[17,43,53,59,90],"negotiating":[18],"speed":[19,44,60,99,102],"bumps":[20,45,103],"within":[21],"unified":[23],"Mixed-Integer":[24],"Quadratic":[25],"Programming":[26],"(MIQP)":[27],"framework.":[28],"By":[29],"leveraging":[30],"Model":[31],"Predictive":[32],"Control":[33],"(MPC),":[34],"we":[35,86],"develop":[36],"trajectories":[37],"that":[38,64],"optimize":[39],"both":[40,117],"traversal":[42],"and":[46,121],"overall":[47],"passenger":[48],"comfort.":[49],"A":[50],"key":[51],"contribution":[52],"this":[54],"work":[55],"is":[56],"formulation":[58],"bump":[61],"handling":[62],"constraints":[63],"closely":[65],"emulate":[66],"human":[67,126],"driving":[68,84],"behavior,":[69],"seamlessly":[70],"integrating":[71],"these":[72],"with":[73],"broader":[74],"road":[75,119],"navigation":[76],"requirements.":[77],"Through":[78],"extensive":[79],"simulations":[80],"varied":[82],"urban":[83,137],"environments,":[85],"demonstrate":[87],"efficacy":[89],"our":[91],"approach,":[92],"highlighting":[93],"its":[94],"ability":[95],"to":[96,115],"ensure":[97],"smooth":[98],"transitions":[100],"over":[101],"while":[104],"maintaining":[105],"computational":[106],"efficiency":[107],"suitable":[108],"real-time":[110],"deployment.":[111],"The":[112],"method's":[113],"capability":[114],"handle":[116],"static":[118],"features":[120],"dynamic":[122],"constraints,":[123],"alongside":[124],"expert":[125],"driving,":[127],"represents":[128],"significant":[130],"step":[131],"forward":[132]},"counts_by_year":[],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2025-10-29T00:00:00"}
