{"id":"https://openalex.org/W4388430270","doi":"https://doi.org/10.1109/access.2023.3330431","title":"Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks","display_name":"Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4388430270","doi":"https://doi.org/10.1109/access.2023.3330431"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3330431","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3330431","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10309845.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10309845.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042354009","display_name":"Edoardo Pagot","orcid":"https://orcid.org/0000-0001-9046-1545"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Edoardo Pagot","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9046-1545","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037618668","display_name":"Mattia Piccinini","orcid":"https://orcid.org/0000-0003-0457-8777"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Piccinini","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0457-8777","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038642798","display_name":"Enrico Bertolazzi","orcid":"https://orcid.org/0000-0003-0487-5210"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Bertolazzi","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0487-5210","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039742246","display_name":"Francesco Biral","orcid":"https://orcid.org/0000-0001-8098-7965"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Biral","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8098-7965","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.2336,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.90218986,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"124163","last_page":"124180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7461843490600586},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6661918759346008},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6000936031341553},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5791865587234497},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5748705267906189},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5470009446144104},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4868285059928894},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.482740581035614},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4526682496070862},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4500185251235962},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.44053366780281067},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3605571985244751},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.301736056804657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21986442804336548},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.21710646152496338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1904415488243103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14754867553710938},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09523636102676392}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7461843490600586},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6661918759346008},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6000936031341553},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5791865587234497},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5748705267906189},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5470009446144104},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4868285059928894},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.482740581035614},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4526682496070862},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4500185251235962},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.44053366780281067},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3605571985244751},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.301736056804657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21986442804336548},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.21710646152496338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1904415488243103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14754867553710938},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09523636102676392},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2023.3330431","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3330431","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10309845.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d475bed8a47e4f98a0631f1d819a6488","is_oa":true,"landing_page_url":"https://doaj.org/article/d475bed8a47e4f98a0631f1d819a6488","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 124163-124180 (2023)","raw_type":"article"},{"id":"pmh:oai:iris.unitn.it:11572/404089","is_oa":false,"landing_page_url":"https://hdl.handle.net/11572/404089","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3330431","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3330431","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10309845.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388430270.pdf","grobid_xml":"https://content.openalex.org/works/W4388430270.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1522741398","https://openalex.org/W1649074408","https://openalex.org/W1967455159","https://openalex.org/W1996183429","https://openalex.org/W1997141873","https://openalex.org/W2027311349","https://openalex.org/W2071401582","https://openalex.org/W2131424409","https://openalex.org/W2150737049","https://openalex.org/W2260905884","https://openalex.org/W2303961898","https://openalex.org/W2343568200","https://openalex.org/W2345973286","https://openalex.org/W2521001193","https://openalex.org/W2551773494","https://openalex.org/W2761119620","https://openalex.org/W2762580049","https://openalex.org/W2779793052","https://openalex.org/W2805397692","https://openalex.org/W2991487011","https://openalex.org/W2996627712","https://openalex.org/W3015470607","https://openalex.org/W3051745844","https://openalex.org/W3080709302","https://openalex.org/W3080845836","https://openalex.org/W3094164708","https://openalex.org/W3104165386","https://openalex.org/W3111257915","https://openalex.org/W3128589731","https://openalex.org/W3129417598","https://openalex.org/W3186080068","https://openalex.org/W3198919602","https://openalex.org/W3212074815","https://openalex.org/W3217762956","https://openalex.org/W4206151134","https://openalex.org/W4206713226","https://openalex.org/W4212849884","https://openalex.org/W4307084223","https://openalex.org/W4308934384","https://openalex.org/W4312811723","https://openalex.org/W4366310727","https://openalex.org/W4377231486","https://openalex.org/W4382766756","https://openalex.org/W4386038287","https://openalex.org/W6687918259","https://openalex.org/W6745935785","https://openalex.org/W6757107679","https://openalex.org/W6804445374"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2007570603","https://openalex.org/W2003479292","https://openalex.org/W3135469233"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,17,67,107,113],"framework":[4,140],"to":[5,50,72,111],"plan":[6],"and":[7,44,66,106,122,133,136,153,168],"execute":[8],"autonomous":[9],"parking":[10,14,88,128],"maneuvers":[11,89],"in":[12,82,125],"complex":[13],"scenarios.We":[15],"formulate":[16],"minimum-time":[18],"optimal":[19,28,42,78],"control":[20,29,79],"problem":[21],"for":[22,38],"trajectory":[23,57,166],"planning,":[24],"using":[25],"an":[26,45,52,93],"indirect":[27],"approach.":[30],"A":[31,162],"novel":[32],"smooth":[33],"penalty":[34],"function":[35],"is":[36,48,70,142,171],"devised":[37],"collision":[39],"avoidance":[40],"with":[41,62,92,158],"control,":[43],"effective":[46],"technique":[47],"adopted":[49],"compute":[51],"initial":[53],"solution":[54],"guess.":[55],"The":[56,86,139],"planning":[58,121,167],"tasks":[59],"are":[60,90],"solved":[61],"low":[63],"computational":[64],"times,":[65],"dense":[68],"mesh":[69],"used":[71],"discretize":[73],"the":[74,77,104,120,146,149,165],"domain":[75],"of":[76,164],"problems,":[80],"resulting":[81],"accurate":[83],"collision-free":[84],"solutions.":[85],"planned":[87],"tracked":[91],"original":[94],"pseudo-neural":[95],"feedforward-feedback":[96],"steering":[97],"controller,":[98,110],"which":[99],"outperforms":[100],"other":[101],"techniques":[102],"from":[103],"literature,":[105],"feedback":[108],"longitudinal":[109],"drive":[112],"realistic":[114,159],"14-degree-of-freedom":[115],"vehicle":[116,147],"simulator.":[117],"We":[118],"validate":[119],"tracking":[123,169],"algorithms":[124],"challenging":[126],"narrow":[127],"scenarios,":[129],"including":[130],"reverse,":[131],"parallel":[132],"angle":[134],"parking,":[135],"unstructured":[137],"environments.":[138],"robustness":[141],"assessed":[143],"by":[144,154],"changing":[145],"mass,":[148],"road":[150],"adherence":[151],"conditions,":[152],"introducing":[155],"measurement":[156],"noise":[157],"sensor":[160],"models.":[161],"video":[163],"results":[170],"available":[172],"as":[173],"supplementary":[174],"material.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}