{"id":"https://openalex.org/W3087345871","doi":"https://doi.org/10.1109/ccta41146.2020.9206298","title":"LTV-MPC Based Trajectory Planning Considering Uncertain Object Prediction Through Adaptive Potential Fields","display_name":"LTV-MPC Based Trajectory Planning Considering Uncertain Object Prediction Through Adaptive Potential Fields","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3087345871","doi":"https://doi.org/10.1109/ccta41146.2020.9206298","mag":"3087345871"},"language":"en","primary_location":{"id":"doi:10.1109/ccta41146.2020.9206298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta41146.2020.9206298","pdf_url":null,"source":{"id":"https://openalex.org/S4306498667","display_name":"2020 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":"2020 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/A5014385705","display_name":"Florian Siebenrock","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Florian Siebenrock","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology, Kaiserstra\u00dfe 12, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology, Kaiserstra\u00dfe 12, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064221367","display_name":"Manuel G\u00fcnther","orcid":"https://orcid.org/0000-0003-1489-7448"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Gunther","raw_affiliation_strings":["Karlsruhe Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040502908","display_name":"S\u00f6ren Hohmann","orcid":"https://orcid.org/0000-0002-4170-1431"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Soren Hohmann","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology, Kaiserstra\u00dfe 12, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology, Kaiserstra\u00dfe 12, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014385705"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.1635,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.48204283,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"666","last_page":"672"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9995999932289124,"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/T10524","display_name":"Traffic control and management","score":0.9865999817848206,"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","display_name":"Trajectory","score":0.823353111743927},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6217201352119446},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5485100746154785},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.49510326981544495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42576727271080017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36762142181396484},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10567647218704224},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06398019194602966}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.823353111743927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6217201352119446},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5485100746154785},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.49510326981544495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42576727271080017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36762142181396484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10567647218704224},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06398019194602966},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta41146.2020.9206298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta41146.2020.9206298","pdf_url":null,"source":{"id":"https://openalex.org/S4306498667","display_name":"2020 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":"2020 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W40204502","https://openalex.org/W1985574396","https://openalex.org/W1989345169","https://openalex.org/W1997704083","https://openalex.org/W2070291139","https://openalex.org/W2088532626","https://openalex.org/W2097545165","https://openalex.org/W2106993639","https://openalex.org/W2137921433","https://openalex.org/W2148361676","https://openalex.org/W2161721480","https://openalex.org/W2192586580","https://openalex.org/W2301290695","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2400186919","https://openalex.org/W2480451989","https://openalex.org/W2524886531","https://openalex.org/W2536620281","https://openalex.org/W2538895738","https://openalex.org/W2587321091","https://openalex.org/W2741222326","https://openalex.org/W2762521050","https://openalex.org/W2792573551","https://openalex.org/W2905334455","https://openalex.org/W4243385754","https://openalex.org/W6601593181","https://openalex.org/W6733749722"],"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/W1941703695","https://openalex.org/W2320869598","https://openalex.org/W2381210024","https://openalex.org/W3131574667","https://openalex.org/W2975200075"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"a":[3,37,78,83,88,108],"combined":[4],"longitudinal":[5],"and":[6,27,51,60,102],"lateral":[7],"trajectory":[8],"planning":[9,44,58,73,100,134],"approach":[10,74],"is":[11,34,75],"presented":[12,124],"using":[13,137],"an":[14,30,56],"linear-time-varying":[15],"model":[16],"predictive":[17],"control":[18,50],"(LTV-MPC)":[19],"scheme.":[20],"To":[21],"consider":[22],"uncertain":[23,94],"moving":[24],"object":[25,95],"state":[26,52],"prediction":[28,96],"information,":[29],"adaptive":[31],"potential":[32],"field":[33],"modelled":[35],"generating":[36],"time-varying":[38],"obstacle":[39],"cost-term.":[40],"Approximating":[41],"the":[42,47,66,93,99,103,114,119,123,128,133,138],"nonlinear":[43,68],"problem":[45,59,101,135],"along":[46],"previous":[48],"planned":[49],"sequence":[53],"results":[54,86],"in":[55,77,98,113,122],"LTV-MPC":[57,72],"ensures":[61],"small":[62],"approximation":[63,105,116],"errors":[64],"of":[65,110,118],"original":[67],"formulation.":[69],"The":[70,85],"proposed":[71,104],"analyzed":[76],"collision":[79],"avoidance":[80],"scenario":[81,125],"with":[82],"pedestrian.":[84],"show":[87],"more":[89],"defensive":[90],"maneuver":[91],"integrating":[92],"information":[97],"scheme":[106],"delivers":[107],"difference":[109],"492,18":[111],"%":[112],"relative":[115],"error":[117],"cost":[120],"function":[121],"compared":[126],"to":[127],"widely":[129],"used":[130],"approach,":[131],"approximating":[132],"by":[136],"current":[139],"vehicle":[140],"state.":[141]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}