{"id":"https://openalex.org/W4315488751","doi":"https://doi.org/10.1109/cdc51059.2022.9992529","title":"Quadratic approximation based heuristic for optimization-based coordination of automated vehicles in confined areas","display_name":"Quadratic approximation based heuristic for optimization-based coordination of automated vehicles in confined areas","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315488751","doi":"https://doi.org/10.1109/cdc51059.2022.9992529"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992529","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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 61st 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://research.chalmers.se/publication/534490/file/534490_Fulltext.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042870386","display_name":"Stefan Kojchev","orcid":"https://orcid.org/0000-0002-7976-1704"},"institutions":[{"id":"https://openalex.org/I4210100925","display_name":"Autonomous Solutions (United States)","ror":"https://ror.org/015zgtx05","country_code":"US","type":"company","lineage":["https://openalex.org/I4210100925"]},{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I1340210623","display_name":"Volvo (Sweden)","ror":"https://ror.org/05b6ypc36","country_code":"SE","type":"company","lineage":["https://openalex.org/I1340210623"]}],"countries":["SE","US"],"is_corresponding":true,"raw_author_name":"Stefan Kojchev","raw_affiliation_strings":["Chalmers University of Technology,Volvo Autonomous Solutions and the Mechatronics Group, Systems and Control","Volvo Autonomous Solutions and the Mechatronics Group, Systems and Control, Chalmers University of Technology"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Volvo Autonomous Solutions and the Mechatronics Group, Systems and Control","institution_ids":["https://openalex.org/I1340210623","https://openalex.org/I4210100925","https://openalex.org/I66862912"]},{"raw_affiliation_string":"Volvo Autonomous Solutions and the Mechatronics Group, Systems and Control, Chalmers University of Technology","institution_ids":["https://openalex.org/I1340210623","https://openalex.org/I4210100925","https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011507645","display_name":"Robert Hult","orcid":"https://orcid.org/0000-0002-1337-3880"},"institutions":[{"id":"https://openalex.org/I1340210623","display_name":"Volvo (Sweden)","ror":"https://ror.org/05b6ypc36","country_code":"SE","type":"company","lineage":["https://openalex.org/I1340210623"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Robert Hult","raw_affiliation_strings":["Volvo Autonomous Solutions,Göteborg,Sweden,41873"],"affiliations":[{"raw_affiliation_string":"Volvo Autonomous Solutions,Göteborg,Sweden,41873","institution_ids":["https://openalex.org/I1340210623"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012623700","display_name":"Jonas Fredriksson","orcid":"https://orcid.org/0000-0002-9814-6416"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonas Fredriksson","raw_affiliation_strings":["Chalmers University of Technology,Mechatronics Group, Systems and Control,Göteborg,Sweden,41296"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Mechatronics Group, Systems and Control,Göteborg,Sweden,41296","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042870386"],"corresponding_institution_ids":["https://openalex.org/I1340210623","https://openalex.org/I4210100925","https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":1.7722,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87353089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6156","last_page":"6162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9990000128746033,"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":0.9990000128746033,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9980000257492065,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922000169754028,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6744130849838257},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.6504221558570862},{"id":"https://openalex.org/keywords/quadratic-assignment-problem","display_name":"Quadratic assignment problem","score":0.6360154151916504},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6041045188903809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5971348881721497},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5908635854721069},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.5868636965751648},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5429977178573608},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5276735424995422},{"id":"https://openalex.org/keywords/combinatorial-optimization","display_name":"Combinatorial optimization","score":0.4861166477203369},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4627886116504669},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4487813115119934},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.4461442828178406},{"id":"https://openalex.org/keywords/quadratically-constrained-quadratic-program","display_name":"Quadratically constrained quadratic program","score":0.426209419965744},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3787514567375183},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3414568305015564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29561758041381836},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.10963472723960876}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6744130849838257},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.6504221558570862},{"id":"https://openalex.org/C98036226","wikidata":"https://www.wikidata.org/wiki/Q7268356","display_name":"Quadratic assignment problem","level":3,"score":0.6360154151916504},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6041045188903809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5971348881721497},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5908635854721069},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.5868636965751648},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5429977178573608},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5276735424995422},{"id":"https://openalex.org/C52692508","wikidata":"https://www.wikidata.org/wiki/Q1333872","display_name":"Combinatorial optimization","level":2,"score":0.4861166477203369},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4627886116504669},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4487813115119934},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.4461442828178406},{"id":"https://openalex.org/C65148998","wikidata":"https://www.wikidata.org/wiki/Q7268373","display_name":"Quadratically constrained quadratic program","level":3,"score":0.426209419965744},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3787514567375183},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3414568305015564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29561758041381836},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.10963472723960876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992529","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","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 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.chalmers.se:534490","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/534490","pdf_url":"https://research.chalmers.se/publication/534490/file/534490_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:research.chalmers.se:534490","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/534490","pdf_url":"https://research.chalmers.se/publication/534490/file/534490_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321030","display_name":"VINNOVA","ror":"https://ror.org/01kd5m353"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4315488751.pdf","grobid_xml":"https://content.openalex.org/works/W4315488751.grobid-xml"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W316935178","https://openalex.org/W1639167632","https://openalex.org/W1972022192","https://openalex.org/W2010725166","https://openalex.org/W2081760210","https://openalex.org/W2085865324","https://openalex.org/W2123871098","https://openalex.org/W2149811681","https://openalex.org/W2765221342","https://openalex.org/W2796896863","https://openalex.org/W2804902740","https://openalex.org/W2842089854","https://openalex.org/W2930359834","https://openalex.org/W2942467299","https://openalex.org/W3047185941","https://openalex.org/W4210409522","https://openalex.org/W4301014524"],"related_works":["https://openalex.org/W4231448069","https://openalex.org/W4206704743","https://openalex.org/W4307933212","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4206223795","https://openalex.org/W2068671103","https://openalex.org/W4211141987","https://openalex.org/W1977397354","https://openalex.org/W2889336547"],"abstract_inverted_index":{"We":[0],"investigate":[1],"the":[2,25,28,79,92,105,109,112,115,119,125,132,145],"problem":[3,14,22,45,155],"of":[4,27,108,118,144,152],"coordinating":[5],"multiple":[6],"automated":[7],"vehicles":[8,133],"(AVs)":[9],"in":[10,37,89,97],"confined":[11],"areas.":[12],"This":[13],"can":[15],"be":[16],"formulated":[17],"as":[18],"an":[19],"optimal":[20,126],"control":[21,129],"(OCP)":[23],"where":[24],"motion":[26],"AVs":[29],"is":[30,46,53,102,121,147],"optimized":[31],"such":[32],"that":[33],"collisions":[34],"are":[35,134],"avoided":[36],"cross-intersections,":[38],"merge":[39],"crossings,":[40],"and":[41,48,124,128],"narrow":[42],"roads.":[43],"The":[44,73,142],"combinatorial":[47,106,116],"solving":[49,137],"it":[50],"to":[51,69,91],"optimality":[52],"prohibitively":[54],"difficult":[55],"for":[56,104,131],"all":[57],"but":[58],"trivial":[59],"instances.":[60],"For":[61],"this":[62],"reason,":[63],"we":[64],"propose":[65],"a":[66,82,138,150,153],"heuristic":[67,74],"method":[68],"obtain":[70],"approximate":[71],"solutions.":[72],"comprises":[75],"two":[76],"stages:":[77],"In":[78,111],"first":[80],"stage,":[81,114],"Mixed":[83],"Integer":[84],"Quadratic":[85,93,99],"Program":[86,140],"(MIQP),":[87],"similar":[88],"construction":[90],"Programming":[94,100],"(QP)":[95],"sub-problems":[96],"Sequential":[98],"(SQP),":[101],"solved":[103],"part":[107,117],"solution.":[110],"second":[113],"solution":[120],"held":[122],"fixed,":[123],"state":[127],"trajectories":[130],"obtained":[135],"by":[136,149],"Nonlinear":[139],"(NLP).":[141],"performance":[143],"algorithm":[146],"demonstrated":[148],"simulation":[151],"non-trivial":[154],"instance.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}