{"id":"https://openalex.org/W3092024846","doi":"https://doi.org/10.1109/case48305.2020.9217037","title":"Intention-aware motion planning with road rules","display_name":"Intention-aware motion planning with road rules","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3092024846","doi":"https://doi.org/10.1109/case48305.2020.9217037","mag":"3092024846"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9217037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103228466","display_name":"Jesper Karlsson","orcid":"https://orcid.org/0000-0002-7045-146X"},"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":false,"raw_author_name":"Jesper Karlsson","raw_affiliation_strings":["Jesper Karlsson and Jana Tumova are with KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jesper Karlsson and Jana Tumova are with KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042698317","display_name":"Jana T\u016fmov\u00e1","orcid":"https://orcid.org/0000-0003-4173-2593"},"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":false,"raw_author_name":"Jana Tumova","raw_affiliation_strings":["Jesper Karlsson and Jana Tumova are with KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jesper Karlsson and Jana Tumova are with KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"526","last_page":"532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.992900013923645,"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/T12290","display_name":"Human Motion and Animation","score":0.991599977016449,"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/computer-science","display_name":"Computer science","score":0.6160029768943787},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5803980231285095},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5455737113952637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3874225616455078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37498894333839417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1654667854309082}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6160029768943787},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5803980231285095},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5455737113952637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3874225616455078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37498894333839417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1654667854309082}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case48305.2020.9217037","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217037","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W42560795","https://openalex.org/W1502485165","https://openalex.org/W1532499804","https://openalex.org/W1540883472","https://openalex.org/W1605929701","https://openalex.org/W2059993653","https://openalex.org/W2084501107","https://openalex.org/W2192586580","https://openalex.org/W2212765426","https://openalex.org/W2335799662","https://openalex.org/W2411577903","https://openalex.org/W2565125300","https://openalex.org/W2567397379","https://openalex.org/W2583235875","https://openalex.org/W2737479107","https://openalex.org/W2800727637","https://openalex.org/W2807148618","https://openalex.org/W2890208026","https://openalex.org/W6631754287","https://openalex.org/W6752323796"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"We":[0,38,81],"present":[1],"an":[2,9],"approach":[3,87],"for":[4],"intention-aware":[5],"motion":[6],"planning":[7],"in":[8,32],"autonomous":[10],"driving":[11],"scenario,":[12],"where":[13],"a":[14,19,77,91],"vehicle":[15],"aims":[16],"to":[17],"traverse":[18],"road":[20,29,66],"segment":[21],"as":[22,24],"quickly":[23],"possible,":[25],"while":[26,68],"constrained":[27],"by":[28,41],"rules":[30],"encoded":[31],"syntactically":[33],"co-safe":[34],"linear":[35],"temporal":[36],"logic.":[37],"show":[39],"that":[40,70],"combining":[42],"the":[43,65,71,83],"RRTxalgorithm":[44],"with":[45],"trajectory":[46],"prediction":[47],"using":[48,88],"Mixed":[49],"Observable":[50],"Markov":[51],"Decision":[52],"Processes":[53],"(MOMDP),":[54],"we":[55],"can":[56],"achieve":[57],"least-violating":[58],"behavior":[59],"wrt.":[60],"mission":[61],"completion":[62],"time":[63],"and":[64],"rules,":[67],"ensuring":[69],"likelihood":[72],"of":[73,85,90,93],"collisions":[74],"remains":[75],"below":[76],"user":[78],"specified":[79],"threshold.":[80],"illustrate":[82],"validity":[84],"our":[86],"simulations":[89],"variety":[92],"traffic":[94],"scenarios.":[95]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
