{"id":"https://openalex.org/W2962888568","doi":"https://doi.org/10.1109/cdc.2016.7798509","title":"Multi-vehicle collision avoidance via hamilton-jacobi reachability and mixed integer programming","display_name":"Multi-vehicle collision avoidance via hamilton-jacobi reachability and mixed integer programming","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2962888568","doi":"https://doi.org/10.1109/cdc.2016.7798509","mag":"2962888568"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7798509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","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/A5100387244","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8506-3665"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mo Chen","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074004691","display_name":"Jennifer C. Shih","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennifer C. Shih","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.5097,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.92757873,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1695","last_page":"1700"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/reachability","display_name":"Reachability","score":0.9002608060836792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7519469261169434},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7070068120956421},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6879918575286865},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.6012300848960876},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.45966824889183044},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4561057686805725},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.45515817403793335},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.45384401082992554},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3391360640525818},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.31959113478660583},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2131969928741455},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1537783443927765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11681404709815979}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9002608060836792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7519469261169434},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7070068120956421},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6879918575286865},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.6012300848960876},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.45966824889183044},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4561057686805725},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.45515817403793335},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.45384401082992554},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3391360640525818},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.31959113478660583},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2131969928741455},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1537783443927765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11681404709815979},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2016.7798509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W574402879","https://openalex.org/W1964345118","https://openalex.org/W1975236902","https://openalex.org/W1982535910","https://openalex.org/W1998452137","https://openalex.org/W2002440441","https://openalex.org/W2009318488","https://openalex.org/W2025324175","https://openalex.org/W2047599654","https://openalex.org/W2067461601","https://openalex.org/W2106816694","https://openalex.org/W2116364955","https://openalex.org/W2142943472","https://openalex.org/W2153012550","https://openalex.org/W2164775983","https://openalex.org/W2171276833","https://openalex.org/W2288883172","https://openalex.org/W2416561473","https://openalex.org/W2563550261","https://openalex.org/W2617304214","https://openalex.org/W2962896691","https://openalex.org/W2964187480","https://openalex.org/W4244358460","https://openalex.org/W6644075784"],"related_works":["https://openalex.org/W2364921833","https://openalex.org/W2385146268","https://openalex.org/W3153405850","https://openalex.org/W2380023786","https://openalex.org/W2546696010","https://openalex.org/W1992741870","https://openalex.org/W2114218015","https://openalex.org/W2034987521","https://openalex.org/W2527092592","https://openalex.org/W3009466115"],"abstract_inverted_index":{"Multi-agent":[0],"differential":[1],"games":[2],"are":[3],"important":[4],"and":[5,27,38,57,151],"useful":[6],"tools":[7],"for":[8,22,125,133],"analyzing":[9],"many":[10],"practical":[11],"problems.":[12],"With":[13],"the":[14,25,66,82,95,109],"recent":[15],"surge":[16],"of":[17,29,62,70,84,98,111,161],"interest":[18],"in":[19,60,174],"using":[20,102],"UAVs":[21],"civil":[23],"purposes,":[24],"importance":[26],"urgency":[28],"developing":[30],"tractable":[31],"multiagent":[32],"analysis":[33],"techniques":[34],"that":[35,107],"provide":[36,115],"safety":[37,52,123],"performance":[39],"guarantees":[40,53],"is":[41,58,86,146],"at":[42],"an":[43,159],"all-time":[44],"high.":[45],"Hamilton-Jacobi":[46],"(HJ)":[47],"reachability":[48,72,100,135],"has":[49],"successfully":[50],"provided":[51],"to":[54,77,114,165],"smallscale":[55],"systems":[56,127],"flexible":[59],"terms":[61],"system":[63],"dynamics.":[64],"However,":[65],"exponential":[67],"complexity":[68],"scaling":[69],"HJ":[71,99,112,134],"prevents":[73],"its":[74],"direct":[75],"application":[76],"large":[78],"scale":[79],"problems":[80],"when":[81],"number":[83],"vehicles":[85,150],"greater":[87],"than":[88,158],"two.":[89],"In":[90],"this":[91],"paper,":[92],"we":[93],"overcome":[94],"scalability":[96],"limitations":[97],"by":[101,155],"a":[103,129],"mixed":[104],"integer":[105],"program":[106],"exploits":[108],"properties":[110],"solutions":[113],"higher-level":[116],"control":[117],"logic.":[118],"Our":[119],"proposed":[120,172],"method":[121,145,173],"provides":[122],"guarantee":[124],"three-vehicle":[126],"-":[128,136],"previously":[130],"intractable":[131],"task":[132],"without":[137],"incurring":[138],"significant":[139],"additional":[140],"computation":[141],"cost.":[142],"Furthermore,":[143],"our":[144,171],"scalable":[147],"beyond":[148],"three":[149],"performs":[152],"significantly":[153],"better":[154],"several":[156],"metrics":[157],"extension":[160],"pairwise":[162],"collision":[163,167],"avoidance":[164],"multi-vehicle":[166],"avoidance.":[168],"We":[169],"demonstrate":[170],"simulations.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
