{"id":"https://openalex.org/W2761535405","doi":"https://doi.org/10.1109/ccta.2017.8062778","title":"Sequential convex programming MPC for dynamic vehicle collision avoidance","display_name":"Sequential convex programming MPC for dynamic vehicle collision avoidance","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2761535405","doi":"https://doi.org/10.1109/ccta.2017.8062778","mag":"2761535405"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062778","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"article","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/A5087905706","display_name":"Bassam Alrifaee","orcid":"https://orcid.org/0000-0002-5982-021X"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bassam Alrifaee","raw_affiliation_strings":["Department of Computer Science, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026934626","display_name":"Janis Maczijewski","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janis Maczijewski","raw_affiliation_strings":["Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.5296,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.98259814,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2202","last_page":"2207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9763000011444092,"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/T10932","display_name":"Microbial Metabolic Engineering and Bioproduction","score":0.9661999940872192,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8369803428649902},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6669327020645142},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.6528580784797668},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6135997772216797},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5603447556495667},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5580047965049744},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5370276570320129},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5130142569541931},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5052021145820618},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.49743250012397766},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4675900638103485},{"id":"https://openalex.org/keywords/feasible-region","display_name":"Feasible region","score":0.45487815141677856},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4502321481704712},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4458431303501129},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4121835231781006},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3003392219543457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2718678414821625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20439913868904114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14684346318244934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07751438021659851}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8369803428649902},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6669327020645142},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.6528580784797668},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6135997772216797},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5603447556495667},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5580047965049744},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5370276570320129},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5130142569541931},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5052021145820618},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.49743250012397766},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4675900638103485},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.45487815141677856},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4502321481704712},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4458431303501129},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4121835231781006},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3003392219543457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2718678414821625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20439913868904114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14684346318244934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07751438021659851},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2017.8062778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062778","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:707229","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/707229","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Piscataway, NJ : IEEE 2202-2207 (2017). doi:10.1109/CCTA.2017.8062778","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1526941877","https://openalex.org/W1561941139","https://openalex.org/W1977453649","https://openalex.org/W2092056414","https://openalex.org/W2213594914","https://openalex.org/W2296319761","https://openalex.org/W2319241066","https://openalex.org/W2619369944","https://openalex.org/W2777085953","https://openalex.org/W4250589301","https://openalex.org/W4300995080"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3046417820","https://openalex.org/W2537110013","https://openalex.org/W583309402","https://openalex.org/W2120267624","https://openalex.org/W3161144416"],"abstract_inverted_index":{"This":[0,85],"paper":[1,86],"presents":[2,87],"a":[3,9,22],"dynamic":[4],"collision":[5,66],"avoidance":[6,56,67],"controller":[7],"of":[8,37,45,61,72],"connected":[10],"vehicle":[11],"group":[12],"using":[13],"Model":[14],"Predictive":[15],"Control":[16],"(MPC).":[17],"The":[18],"vehicles":[19],"should":[20],"follow":[21],"predefined":[23],"reference":[24,39],"trajectory":[25,40],"while":[26],"simultaneously":[27],"avoiding":[28],"collisions":[29],"on":[30,98],"this":[31,93],"trajectory.":[32],"MPC":[33,54],"pursues":[34],"the":[35,38,42,46,65,69,73,79],"tracking":[36],"in":[41],"objective":[43],"function":[44],"optimization":[47,74,81,95],"problem.":[48],"In":[49],"order":[50],"to":[51,64,91],"avoid":[52],"collisions,":[53],"defines":[55],"constraints":[57],"between":[58],"each":[59],"pair":[60],"vehicles.":[62],"Due":[63],"constraints,":[68],"feasible":[70],"set":[71],"problem":[75,82,96],"is":[76,83],"non-convex.":[77,84],"Thus,":[78],"resulting":[80],"an":[88],"efficient":[89],"method":[90],"solve":[92],"non-convex":[94],"based":[97],"sequential":[99],"convex":[100],"programming.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
