{"id":"https://openalex.org/W3010682194","doi":"https://doi.org/10.1109/cdc40024.2019.9029542","title":"Contention-Resolving Model Predictive Control for Coordinating Automated Vehicles at a Traffic Intersection","display_name":"Contention-Resolving Model Predictive Control for Coordinating Automated Vehicles at a Traffic Intersection","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3010682194","doi":"https://doi.org/10.1109/cdc40024.2019.9029542","mag":"3010682194"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://digitalcommons.lsu.edu/mathematics_pubs/897","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101490060","display_name":"Ningshi Yao","orcid":"https://orcid.org/0000-0003-0414-8347"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ningshi Yao","raw_affiliation_strings":["Ningshi Yao and Fumin Zhang are with the School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Ningshi Yao and Fumin Zhang are with the School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047541029","display_name":"Michael Malisoff","orcid":"https://orcid.org/0000-0003-0150-5046"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Malisoff","raw_affiliation_strings":["Department of Mathematics, Louisiana State University, LA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics, Louisiana State University, LA, USA","institution_ids":["https://openalex.org/I121820613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068994727","display_name":"Fumin Zhang","orcid":"https://orcid.org/0000-0003-0053-4224"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fumin Zhang","raw_affiliation_strings":["Ningshi Yao and Fumin Zhang are with the School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Ningshi Yao and Fumin Zhang are with the School of Electrical and Computer Engineering, Georgia Institute of Techonology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101490060"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.5053,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68149605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2233","last_page":"2238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9994999766349792,"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/T10524","display_name":"Traffic control and management","score":0.9994999766349792,"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/T12095","display_name":"Vehicle emissions and performance","score":0.9883999824523926,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/intersection","display_name":"Intersection (aeronautics)","score":0.8354321718215942},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7533495426177979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7348886728286743},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6465031504631042},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5254672765731812},{"id":"https://openalex.org/keywords/decision-tree","display_name":"Decision tree","score":0.48571428656578064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.471540242433548},{"id":"https://openalex.org/keywords/search-tree","display_name":"Search tree","score":0.4413908123970032},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33832302689552307},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14663749933242798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1344829797744751},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12715747952461243},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.12328013777732849},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.11087682843208313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06912204623222351}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.8354321718215942},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7533495426177979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7348886728286743},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6465031504631042},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5254672765731812},{"id":"https://openalex.org/C84525736","wikidata":"https://www.wikidata.org/wiki/Q831366","display_name":"Decision tree","level":2,"score":0.48571428656578064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.471540242433548},{"id":"https://openalex.org/C207024777","wikidata":"https://www.wikidata.org/wiki/Q621673","display_name":"Search tree","level":3,"score":0.4413908123970032},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33832302689552307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14663749933242798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1344829797744751},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12715747952461243},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.12328013777732849},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.11087682843208313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06912204623222351},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalcommons.lsu.edu:mathematics_pubs-1896","is_oa":true,"landing_page_url":"https://digitalcommons.lsu.edu/mathematics_pubs/897","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-123988","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-123988","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"},{"id":"pmh:oai:repository.lsu.edu:mathematics_pubs-1896","is_oa":true,"landing_page_url":"https://repository.lsu.edu/mathematics_pubs/897","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:digitalcommons.lsu.edu:mathematics_pubs-1896","is_oa":true,"landing_page_url":"https://digitalcommons.lsu.edu/mathematics_pubs/897","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"},"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1964703036","https://openalex.org/W1997082481","https://openalex.org/W2008082561","https://openalex.org/W2025093758","https://openalex.org/W2071089971","https://openalex.org/W2082047683","https://openalex.org/W2132261755","https://openalex.org/W2162080181","https://openalex.org/W2256473988","https://openalex.org/W2302093231","https://openalex.org/W2520611782","https://openalex.org/W2540962617","https://openalex.org/W2613420336","https://openalex.org/W2735285332","https://openalex.org/W2761551893","https://openalex.org/W2772329503","https://openalex.org/W2804902740","https://openalex.org/W2805498560","https://openalex.org/W2899196302","https://openalex.org/W2963840778","https://openalex.org/W3101102436","https://openalex.org/W6638731746"],"related_works":["https://openalex.org/W3128587426","https://openalex.org/W2227684440","https://openalex.org/W2739550867","https://openalex.org/W2156833871","https://openalex.org/W2359807192","https://openalex.org/W2174962524","https://openalex.org/W2157743338","https://openalex.org/W2083751087","https://openalex.org/W48124421","https://openalex.org/W2915699561"],"abstract_inverted_index":{"Our":[0],"earlier":[1],"work":[2],"established":[3],"a":[4,34,54,86,101,113,116],"contention-resolving":[5,29],"model":[6],"predictive":[7],"control":[8,88,91],"(MPC)":[9],"framework":[10],"for":[11,16,39],"codesigning":[12],"priorities":[13],"and":[14,115],"speeds":[15],"automated":[17],"vehicles":[18],"at":[19],"an":[20,27],"intersection.":[21,66],"In":[22],"this":[23],"paper,":[24],"we":[25,84,95],"present":[26],"improved":[28],"MPC":[30,48],"design.":[31],"We":[32,105],"propose":[33],"new":[35],"branch":[36],"cost":[37],"formulation":[38],"the":[40,51,65,76,81,107,119],"decision":[41,77],"tree":[42],"that":[43],"is":[44,56],"constructed":[45],"by":[46],"contentionresolving":[47],"to":[49,64,90],"handle":[50],"case":[52],"where":[53],"vehicle":[55,92],"delayed":[57],"multiple":[58],"times":[59],"before":[60],"being":[61],"allowed":[62],"access":[63],"All":[67],"possible":[68],"priority":[69,82,103],"combinations":[70],"are":[71],"dynamically":[72],"generated":[73],"when":[74],"constructing":[75],"tree.":[78],"Based":[79],"on":[80],"assignments,":[83],"design":[85],"decentralized":[87],"law":[89],"speeds,":[93],"which":[94],"show":[96],"enjoys":[97],"optimality":[98],"properties":[99],"under":[100],"specific":[102],"assignment.":[104],"verify":[106],"effectiveness":[108],"of":[109],"our":[110],"method":[111],"through":[112],"simulation":[114],"comparison":[117],"with":[118],"First-Come-First-Serve":[120],"scheduling":[121],"strategy.":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
