{"id":"https://openalex.org/W7147371079","doi":"https://doi.org/10.1109/cnml68938.2026.11452278","title":"Robust Cross-Entropy Optimization for Safe and Stable Motion Planning in Autonomous Driving","display_name":"Robust Cross-Entropy Optimization for Safe and Stable Motion Planning in Autonomous Driving","publication_year":2026,"publication_date":"2026-01-30","ids":{"openalex":"https://openalex.org/W7147371079","doi":"https://doi.org/10.1109/cnml68938.2026.11452278"},"language":null,"primary_location":{"id":"doi:10.1109/cnml68938.2026.11452278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11452278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","raw_type":"proceedings-article"},"type":"article","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/A5132667864","display_name":"Liuyan Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I126924076","display_name":"Chongqing Normal University","ror":"https://ror.org/01dcw5w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I126924076"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liuyan Wu","raw_affiliation_strings":["Chongqing Normal University,National Center for Applied Mathematics in Chongqing,Chongqing,China,401331"],"affiliations":[{"raw_affiliation_string":"Chongqing Normal University,National Center for Applied Mathematics in Chongqing,Chongqing,China,401331","institution_ids":["https://openalex.org/I126924076"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012281896","display_name":"Fusheng Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I126924076","display_name":"Chongqing Normal University","ror":"https://ror.org/01dcw5w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I126924076"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusheng Bai","raw_affiliation_strings":["Chongqing Normal University,National Center for Applied Mathematics in Chongqing,Chongqing,China,401331"],"affiliations":[{"raw_affiliation_string":"Chongqing Normal University,National Center for Applied Mathematics in Chongqing,Chongqing,China,401331","institution_ids":["https://openalex.org/I126924076"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5132667864"],"corresponding_institution_ids":["https://openalex.org/I126924076"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.92537889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1002","last_page":"1007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.5126000046730042,"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":0.5126000046730042,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.29330000281333923,"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":0.02239999920129776,"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/metric","display_name":"Metric (unit)","score":0.5667999982833862},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5662000179290771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5615000128746033},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5067999958992004},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5009999871253967},{"id":"https://openalex.org/keywords/constrained-optimization","display_name":"Constrained optimization","score":0.47510001063346863},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.46459999680519104},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.44780001044273376},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.43799999356269836}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5916000008583069},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5667999982833862},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5662000179290771},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5615000128746033},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5067999958992004},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5009999871253967},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.47510001063346863},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.46459999680519104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45879998803138733},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.44780001044273376},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.43459999561309814},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.43220001459121704},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.39959999918937683},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.3937000036239624},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.374099999666214},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.36320000886917114},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.3434000015258789},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34279999136924744},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.323199987411499},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cnml68938.2026.11452278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11452278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5345683097839355}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1977085960","https://openalex.org/W2058696262","https://openalex.org/W2344540224","https://openalex.org/W2811396609","https://openalex.org/W2948153973","https://openalex.org/W2962681260","https://openalex.org/W2974752735","https://openalex.org/W3049162991","https://openalex.org/W4205401389","https://openalex.org/W4224216677","https://openalex.org/W4287617987","https://openalex.org/W4296913307","https://openalex.org/W4388819818","https://openalex.org/W4396506136","https://openalex.org/W4399168175","https://openalex.org/W4399168912","https://openalex.org/W4411171960","https://openalex.org/W4414432572","https://openalex.org/W7107945717"],"related_works":[],"abstract_inverted_index":{"Safety":[0],"and":[1,19,28,33,49,64,75,98,121,127,137,188],"stability":[2],"are":[3],"critical":[4],"requirements":[5],"for":[6],"autonomous":[7],"driving":[8],"systems.":[9],"Optimization":[10],"methods":[11],"based":[12,39,143],"on":[13,17,40,46,144],"penalty":[14,20],"functions":[15],"rely":[16,45],"gradient":[18,47],"parameter":[21],"updates,":[22,42],"which":[23],"suffers":[24],"from":[25,116,157],"ill-conditioned":[26],"problems":[27],"lead":[29],"to":[30,101,149],"unstable":[31],"solutions":[32,120,156],"degraded":[34],"safety":[35],"performance.":[36],"Robust":[37],"cross-entropy,":[38],"sampling":[41,104,152],"does":[43],"not":[44,171],"calculations":[48],"can":[50],"mitigate":[51],"this":[52,59],"problem.":[53],"Building":[54],"upon":[55],"the":[56,72,88,92,103,107,113,125,151,161],"RCE":[57],"methods,":[58],"work":[60],"incorporates":[61],"a":[62,85,140],"continuous":[63],"risk-aware":[65],"measure":[66],"of":[67,80,94,129],"constraint":[68,82,130],"violation":[69,95],"metric":[70],"into":[71],"sample":[73],"evaluation":[74],"distribution":[76,105],"update":[77],"process.":[78],"Instead":[79],"treating":[81],"satisfaction":[83],"in":[84],"binary":[86],"manner,":[87],"proposed":[89,169],"approach":[90],"quantifies":[91],"degree":[93],"under":[96],"perturbations":[97],"uses":[99],"it":[100],"guide":[102],"toward":[106],"feasible":[108],"region.":[109],"This":[110],"design":[111],"prevents":[112],"optimization":[114],"process":[115],"oscillating":[117],"among":[118],"infeasible":[119],"significantly":[122],"reduces":[123],"both":[124],"frequency":[126],"magnitude":[128],"violations.":[131],"To":[132],"further":[133],"improve":[134],"online":[135],"efficiency":[136],"temporal":[138],"consistency,":[139],"warm-start":[141],"strategy":[142],"time":[145],"consistency":[146],"is":[147,165],"adopted":[148],"initialize":[150],"distribution.":[153],"By":[154],"leveraging":[155],"previous":[158],"planning":[159,182],"steps,":[160],"effective":[162],"search":[163],"space":[164],"substantially":[166],"reduced.":[167],"The":[168],"method":[170],"only":[172],"accelerates":[173],"convergence":[174],"but":[175],"also":[176],"smooths":[177],"control":[178,186],"sequences":[179],"across":[180],"consecutive":[181],"horizons,":[183],"effectively":[184],"suppressing":[185],"discontinuities":[187],"overshoot":[189],"behaviors.":[190]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}
