{"id":"https://openalex.org/W1030728038","doi":"https://doi.org/10.1007/s10514-015-9469-5","title":"Computationally aware control of autonomous vehicles: a hybrid model predictive control approach","display_name":"Computationally aware control of autonomous vehicles: a hybrid model predictive control approach","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1030728038","doi":"https://doi.org/10.1007/s10514-015-9469-5","mag":"1030728038"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-015-9469-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-015-9469-5","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.org/content/qt6g8960xj/qt6g8960xj.pdf?t=ph3qwb","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100342397","display_name":"Kun Zhang","orcid":"https://orcid.org/0000-0003-4527-6847"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kun Zhang","raw_affiliation_strings":["ECE Department, University of Arizona, Tucson, AZ, USA","ECE Department, University of Arizona, Tucson, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ECE Department, University of Arizona, Tucson, AZ, USA","institution_ids":["https://openalex.org/I138006243"]},{"raw_affiliation_string":"ECE Department, University of Arizona, Tucson, USA","institution_ids":["https://openalex.org/I138006243"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036195310","display_name":"Jonathan Sprinkle","orcid":"https://orcid.org/0000-0003-4176-1212"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Sprinkle","raw_affiliation_strings":["ECE Department, University of Arizona, Tucson, AZ, USA","ECE Department, University of Arizona, Tucson, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ECE Department, University of Arizona, Tucson, AZ, USA","institution_ids":["https://openalex.org/I138006243"]},{"raw_affiliation_string":"ECE Department, University of Arizona, Tucson, USA","institution_ids":["https://openalex.org/I138006243"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028224738","display_name":"Ricardo G. Sanfelice","orcid":"https://orcid.org/0000-0002-6671-5362"},"institutions":[{"id":"https://openalex.org/I185103710","display_name":"University of California, Santa Cruz","ror":"https://ror.org/03s65by71","country_code":"US","type":"education","lineage":["https://openalex.org/I185103710"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ricardo G. Sanfelice","raw_affiliation_strings":["CE Department, University of California, Santa Cruz, CA, USA","CE Department, University of California, Santa Cruz, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CE Department, University of California, Santa Cruz, CA, USA","institution_ids":["https://openalex.org/I185103710"]},{"raw_affiliation_string":"CE Department, University of California, Santa Cruz, USA","institution_ids":["https://openalex.org/I185103710"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100342397"],"corresponding_institution_ids":["https://openalex.org/I138006243"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":null,"fwci":2.3723,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.886696,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"39","issue":"4","first_page":"503","last_page":"517"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9962000250816345,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9939000010490417,"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/model-predictive-control","display_name":"Model predictive control","score":0.8871515989303589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7850029468536377},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6523250937461853},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6403203010559082},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5413915514945984},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4787111282348633},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47307857871055603},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47146040201187134},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47131210565567017},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4546717405319214},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.43697255849838257},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4310421943664551},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.42790234088897705},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3560291528701782},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2705698013305664},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2566962242126465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2295578122138977},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20487099885940552},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18833184242248535},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12258332967758179}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8871515989303589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7850029468536377},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6523250937461853},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6403203010559082},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5413915514945984},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4787111282348633},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47307857871055603},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47146040201187134},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47131210565567017},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4546717405319214},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.43697255849838257},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4310421943664551},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.42790234088897705},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3560291528701782},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2705698013305664},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2566962242126465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2295578122138977},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20487099885940552},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18833184242248535},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12258332967758179},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s10514-015-9469-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-015-9469-5","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:qt6g8960xj","is_oa":true,"landing_page_url":"http://www.escholarship.org/uc/item/6g8960xj","pdf_url":"https://escholarship.org/content/qt6g8960xj/qt6g8960xj.pdf?t=ph3qwb","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, K; Sprinkle, J; & Sanfelice, RG. (2015). Computationally aware control of autonomous vehicles: a hybrid model predictive control approach. Autonomous Robots, 39(4), 503 - 517. doi: 10.1007/s10514-015-9469-5. UC Santa Cruz: Retrieved from: http://www.escholarship.org/uc/item/6g8960xj","raw_type":"article"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt6g8960xj","is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/6g8960xj","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Autonomous Robots, vol 39, iss 4","raw_type":"article"},{"id":"pmh:oai:escholarship.org/ark:/13030/qt82x140br","is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/82x140br","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Autonomous Robots, vol 39, iss 4","raw_type":"article"}],"best_oa_location":{"id":"pmh:qt6g8960xj","is_oa":true,"landing_page_url":"http://www.escholarship.org/uc/item/6g8960xj","pdf_url":"https://escholarship.org/content/qt6g8960xj/qt6g8960xj.pdf?t=ph3qwb","source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, K; Sprinkle, J; & Sanfelice, RG. (2015). Computationally aware control of autonomous vehicles: a hybrid model predictive control approach. Autonomous Robots, 39(4), 503 - 517. doi: 10.1007/s10514-015-9469-5. UC Santa Cruz: Retrieved from: http://www.escholarship.org/uc/item/6g8960xj","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W1030728038.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W75509891","https://openalex.org/W181167344","https://openalex.org/W1520813427","https://openalex.org/W1546003646","https://openalex.org/W1569239057","https://openalex.org/W1577238357","https://openalex.org/W1964166152","https://openalex.org/W1976410223","https://openalex.org/W1977985274","https://openalex.org/W1989655007","https://openalex.org/W2009202498","https://openalex.org/W2022147776","https://openalex.org/W2026481789","https://openalex.org/W2028678875","https://openalex.org/W2048695515","https://openalex.org/W2048771954","https://openalex.org/W2061081523","https://openalex.org/W2073787051","https://openalex.org/W2078733704","https://openalex.org/W2085059248","https://openalex.org/W2093828802","https://openalex.org/W2100374022","https://openalex.org/W2102488278","https://openalex.org/W2104694979","https://openalex.org/W2106851097","https://openalex.org/W2112930335","https://openalex.org/W2114806575","https://openalex.org/W2117236430","https://openalex.org/W2125107769","https://openalex.org/W2134673975","https://openalex.org/W2138456080","https://openalex.org/W2140305633","https://openalex.org/W2165115747","https://openalex.org/W2184722236","https://openalex.org/W2281382524","https://openalex.org/W2476032041","https://openalex.org/W4211147054","https://openalex.org/W6607352746","https://openalex.org/W6634463681"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W3115036371","https://openalex.org/W2381210024","https://openalex.org/W2003479292","https://openalex.org/W3135469233"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}