{"id":"https://openalex.org/W4312363393","doi":"https://doi.org/10.1109/ccta49430.2022.9966023","title":"Model Predictive Reference Generation of Wheel-Individually Controlled Vehicles","display_name":"Model Predictive Reference Generation of Wheel-Individually Controlled Vehicles","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4312363393","doi":"https://doi.org/10.1109/ccta49430.2022.9966023"},"language":"en","primary_location":{"id":"doi:10.1109/ccta49430.2022.9966023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966023","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 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":"2022 IEEE Conference on Control Technology and Applications (CCTA)","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/A5059658016","display_name":"Manuel Schwartz","orcid":"https://orcid.org/0000-0002-4544-6554"},"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 Schwartz","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100688453","display_name":"Tiancheng Wang","orcid":"https://orcid.org/0009-0003-3723-4863"},"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":"Tiancheng Wang","raw_affiliation_strings":["Karlsruhe Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061755971","display_name":"Christopher Bohn","orcid":"https://orcid.org/0009-0005-1529-1837"},"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":"Christopher Bohn","raw_affiliation_strings":["Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","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,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Karlsruhe Institute of Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.3056,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49774862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1023","last_page":"1030"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9984999895095825,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/actuator","display_name":"Actuator","score":0.683229386806488},{"id":"https://openalex.org/keywords/slip-angle","display_name":"Slip angle","score":0.6295363903045654},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6232789754867554},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.5753790140151978},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.50397127866745},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4818057417869568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48111313581466675},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4637259840965271},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.4603308439254761},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4293791651725769},{"id":"https://openalex.org/keywords/torque-steering","display_name":"Torque steering","score":0.42420512437820435},{"id":"https://openalex.org/keywords/electric-vehicle","display_name":"Electric vehicle","score":0.42359423637390137},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40896281599998474},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.38358426094055176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3831423819065094},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33459264039993286},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.24482539296150208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11242333054542542}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.683229386806488},{"id":"https://openalex.org/C198046988","wikidata":"https://www.wikidata.org/wiki/Q1413792","display_name":"Slip angle","level":3,"score":0.6295363903045654},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6232789754867554},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.5753790140151978},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.50397127866745},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4818057417869568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48111313581466675},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4637259840965271},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.4603308439254761},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4293791651725769},{"id":"https://openalex.org/C80932167","wikidata":"https://www.wikidata.org/wiki/Q7826801","display_name":"Torque steering","level":3,"score":0.42420512437820435},{"id":"https://openalex.org/C2776422217","wikidata":"https://www.wikidata.org/wiki/Q13629441","display_name":"Electric vehicle","level":3,"score":0.42359423637390137},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40896281599998474},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.38358426094055176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3831423819065094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33459264039993286},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.24482539296150208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11242333054542542},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta49430.2022.9966023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966023","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 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":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1971385076","https://openalex.org/W1977542511","https://openalex.org/W2014202572","https://openalex.org/W2182672253","https://openalex.org/W2460227421","https://openalex.org/W2609165022","https://openalex.org/W2783997961","https://openalex.org/W2907417939","https://openalex.org/W2972779957","https://openalex.org/W2983643552","https://openalex.org/W3024577043","https://openalex.org/W3024646137","https://openalex.org/W3025701485","https://openalex.org/W3160253672","https://openalex.org/W4206713226","https://openalex.org/W6770233342"],"related_works":["https://openalex.org/W2364645607","https://openalex.org/W2369959682","https://openalex.org/W2379593713","https://openalex.org/W2900354240","https://openalex.org/W2224987786","https://openalex.org/W2387479088","https://openalex.org/W4226270054","https://openalex.org/W2354034303","https://openalex.org/W2157981090","https://openalex.org/W1967938279"],"abstract_inverted_index":{"Over-actuated":[0],"vehicles":[1],"featuring":[2],"all-wheel":[3,7],"inde-pendent":[4],"drive":[5,62],"and":[6,21,48,63,103,119,126,185,199],"independent":[8],"steering":[9,12,46,101,204],"with":[10,196],"extended":[11],"angles":[13,47,102,205],"are":[14,88,124,161,178,194,207],"able":[15],"to":[16,25,99,109,139],"achieve":[17],"benefits":[18],"for":[19,112],"logistic":[20],"transportation":[22],"systems":[23],"due":[24,98],"the":[26,33,45,49,53,72,75,86,92,105,113,122,136,166,171,174,182,189,218,224,228],"improved":[27],"maneuverability.":[28],"For":[29],"such":[30,133],"multi-wheeled":[31],"systems,":[32],"paper":[34],"at":[35],"hand":[36],"proposes":[37],"a":[38,60,147,197,200,212],"model":[39],"predictive":[40],"reference":[41],"generation":[42],"(mprg)":[43],"of":[44,52,74,85,121,173,188,227],"rotational":[50],"speeds":[51],"vehicle's":[54,183],"wheels.":[55],"As":[56],"an":[57,186],"example":[58],"system,":[59],"four-wheel":[61,64],"steered":[65],"electric":[66],"vehicle":[67,214],"is":[68],"discussed.":[69],"Based":[70],"on":[71,165,181],"state":[73],"art":[76],"as":[77,79,134,156,158,209,215,217],"well":[78,157,216],"previously":[80],"published":[81],"results":[82],"[1],":[83],"requirements":[84],"algorithm":[87,94],"specified":[89],"comprehensively.":[90],"Hence,":[91],"proposed":[93],"satisfies":[95],"hard":[96],"constraints":[97],"limited":[100],"considers":[104],"actuator":[106],"dynamics":[107],"leading":[108],"smooth":[110],"references":[111],"underlying":[114],"low-level":[115],"controllers.":[116],"Further-more,":[117],"wear":[118],"tear":[120],"tires":[123],"reduced":[125],"desired":[127],"final":[128],"states":[129],"can":[130],"be":[131],"specified,":[132],"turning":[135],"wheels":[137],"back":[138],"their":[140],"initial":[141],"directions":[142],"during":[143],"parking":[144,201],"procedures.":[145],"From":[146],"control":[148,150,155,159],"perspective,":[149],"signals":[151],"given":[152],"by":[153,211],"motion":[154],"allocation":[160],"tracked":[162],"without":[163],"restrictions":[164],"wheel's":[167,190],"translational":[168],"velocities.":[169],"Therefore,":[170],"weightings":[172],"algorithm's":[175],"cost":[176],"function":[177],"time-varying":[179],"depending":[180],"velocity":[184,225],"estimation":[187],"current":[191],"slip.":[192],"Results":[193],"discussed":[195],"slalom":[198],"maneuver":[202],"requiring":[203],"that":[206],"larger":[208],"achieved":[210],"conventional":[213],"ISO":[219],"double":[220],"lane":[221],"change":[222],"challenging":[223],"independence":[226],"approach.":[229]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}