{"id":"https://openalex.org/W3011021787","doi":"https://doi.org/10.1109/cdc40024.2019.9029685","title":"A One-Step Feasible Negotiation Algorithm for Distributed Trajectory Generation of Autonomous Vehicles","display_name":"A One-Step Feasible Negotiation Algorithm for Distributed Trajectory Generation of Autonomous Vehicles","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3011021787","doi":"https://doi.org/10.1109/cdc40024.2019.9029685","mag":"3011021787"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029685","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1523323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036264938","display_name":"Maximilian Kneissl","orcid":"https://orcid.org/0000-0002-7207-4928"},"institutions":[{"id":"https://openalex.org/I4210162709","display_name":"Denso (Germany)","ror":"https://ror.org/05xtrfa17","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I4210162709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Kneissl","raw_affiliation_strings":["Corporate R&D department of DENSO, Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate R&D department of DENSO, Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I4210162709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000191823","display_name":"Adam Molin","orcid":"https://orcid.org/0000-0003-2703-0288"},"institutions":[{"id":"https://openalex.org/I4210162709","display_name":"Denso (Germany)","ror":"https://ror.org/05xtrfa17","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I4210162709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Adam Molin","raw_affiliation_strings":["Corporate R&D department of DENSO, Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate R&D department of DENSO, Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I4210162709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074267235","display_name":"Hasan Esen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162709","display_name":"Denso (Germany)","ror":"https://ror.org/05xtrfa17","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I4210162709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hasan Esen","raw_affiliation_strings":["Corporate R&D department of DENSO, Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate R&D department of DENSO, Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I4210162709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Institute for Information- oriented Control, Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information- oriented Control, Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7548,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.85520811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"50","issue":null,"first_page":"6687","last_page":"6693"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9993000030517578,"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":0.9993000030517578,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9986000061035156,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9977999925613403,"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":0.7084084153175354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7076590657234192},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.670790433883667},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6024439930915833},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.505082905292511},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48354482650756836},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4659159481525421},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4235970377922058},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36968570947647095},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34085407853126526},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1981831192970276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15990003943443298},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11781582236289978},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08327880501747131}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7084084153175354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7076590657234192},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.670790433883667},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6024439930915833},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.505082905292511},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48354482650756836},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4659159481525421},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4235970377922058},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36968570947647095},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34085407853126526},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1981831192970276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15990003943443298},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11781582236289978},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08327880501747131},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029685","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:mediatum.ub.tum.de:node/1523323","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1523323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"mag:3041467181","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002237293302898","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1523323","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1523323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1520461958","https://openalex.org/W1603765807","https://openalex.org/W2009847456","https://openalex.org/W2085985420","https://openalex.org/W2144132844","https://openalex.org/W2162080181","https://openalex.org/W2256473988","https://openalex.org/W2301927045","https://openalex.org/W2616635592","https://openalex.org/W2765221342","https://openalex.org/W2903212089","https://openalex.org/W2930359834","https://openalex.org/W2945004637","https://openalex.org/W3098567417","https://openalex.org/W3101102436","https://openalex.org/W6761298595","https://openalex.org/W6762409586","https://openalex.org/W7064148979"],"related_works":["https://openalex.org/W2375065337","https://openalex.org/W2002316083","https://openalex.org/W9406690","https://openalex.org/W2077116208","https://openalex.org/W144494480","https://openalex.org/W2507513082","https://openalex.org/W2754413006","https://openalex.org/W1505509929","https://openalex.org/W2989775562","https://openalex.org/W2165139342"],"abstract_inverted_index":{"We":[0,116],"propose":[1,123],"a":[2,22,28,56,71,83,106,124],"distributed":[3,138,157],"trajectory":[4,120,139],"generation":[5,140],"method":[6,125],"for":[7,137],"connected":[8],"autonomous":[9,142],"vehicles.":[10,47],"It":[11],"is":[12,35,64],"integrated":[13],"in":[14,50,54,144,170],"an":[15,171],"intersection":[16,172],"crossing":[17],"scenario":[18,173],"where":[19],"we":[20],"assume":[21],"given":[23],"vehicle":[24,40,49],"order":[25],"provided":[26],"by":[27,37],"high-level":[29],"scheduling":[30],"unit.":[31],"The":[32,76],"multi-vehicle":[33,94],"framework":[34,52],"modeled":[36],"local":[38,57,112],"independent":[39],"dynamics":[41],"with":[42,66,105,161,174],"coupling":[43,114],"constraints":[44],"between":[45],"neighboring":[46],"Each":[48],"the":[51,88,93,128,133,153,156,162,167],"computes":[53],"parallel":[55],"model":[58],"predictive":[59],"control":[60],"(MPC)":[61],"decision,":[62],"which":[63,110],"shared":[65],"its":[67],"neighbors":[68],"after":[69,101],"conducting":[70],"convex":[72],"Jacobi":[73,134,158],"update":[74],"step.":[75],"procedure":[77],"can":[78,98],"be":[79,99],"iteratively":[80],"repeated":[81],"within":[82],"sampling":[84],"time-step":[85],"to":[86,126],"improve":[87],"overall":[89],"coordination":[90],"decisions":[91],"of":[92,141,155],"setup.":[95],"However,":[96],"iterations":[97],"stopped":[100],"each":[102],"inter-sampling":[103],"step":[104],"guaranteed":[107],"feasible":[108,118],"solution":[109,164],"satisfies":[111],"and":[113,122,146,165],"constraints.":[115],"construct":[117],"initial":[119],"candidates":[121],"emulate":[127],"centralized":[129,163],"solution.":[130],"This":[131],"makes":[132],"algorithm":[135],"suitable":[136],"vehicles":[143],"low":[145],"medium":[147],"speed":[148],"driving.":[149],"Simulation":[150],"results":[151],"compare":[152],"performance":[154],"MPC":[159],"scheme":[160],"illustrate":[166],"feasibility":[168],"guarantee":[169],"unforeseen":[175],"events.":[176]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}