{"id":"https://openalex.org/W4205484088","doi":"https://doi.org/10.1109/comsnets53615.2022.9668548","title":"Deriving Spatial Policies for Overtaking Maneuvers with Autonomous Vehicles","display_name":"Deriving Spatial Policies for Overtaking Maneuvers with Autonomous Vehicles","publication_year":2022,"publication_date":"2022-01-04","ids":{"openalex":"https://openalex.org/W4205484088","doi":"https://doi.org/10.1109/comsnets53615.2022.9668548"},"language":"en","primary_location":{"id":"doi:10.1109/comsnets53615.2022.9668548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/comsnets53615.2022.9668548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 14th International Conference on COMmunication Systems & NETworkS (COMSNETS)","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/A5053585803","display_name":"Jayanth Bhargav","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jayanth Bhargav","raw_affiliation_strings":["Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063677428","display_name":"Johannes Betz","orcid":"https://orcid.org/0000-0001-9197-2849"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Johannes Betz","raw_affiliation_strings":["Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062856684","display_name":"Hongrui Zehng","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongrui Zehng","raw_affiliation_strings":["Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009445756","display_name":"Rahul Mangharam","orcid":"https://orcid.org/0000-0002-3388-8283"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Mangharam","raw_affiliation_strings":["Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical & Systems Engineering, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"859","last_page":"864"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"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":0.9980999827384949,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9904000163078308,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.9706975221633911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6712967753410339},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5683250427246094},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5316365957260132},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5265263319015503},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.467765748500824},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.46607375144958496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4538390338420868},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4412981867790222},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40000367164611816},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3757825195789337},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3054484724998474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26803508400917053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19795072078704834}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.9706975221633911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6712967753410339},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5683250427246094},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5316365957260132},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5265263319015503},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.467765748500824},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.46607375144958496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4538390338420868},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4412981867790222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40000367164611816},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3757825195789337},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3054484724998474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26803508400917053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19795072078704834},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/comsnets53615.2022.9668548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/comsnets53615.2022.9668548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 14th International Conference on COMmunication Systems & NETworkS (COMSNETS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W2041911815","https://openalex.org/W2607001947","https://openalex.org/W2772481138","https://openalex.org/W2793611744","https://openalex.org/W2875385403","https://openalex.org/W2903480254","https://openalex.org/W2951357333","https://openalex.org/W2954115742","https://openalex.org/W2962963881","https://openalex.org/W2989394062","https://openalex.org/W2989707382","https://openalex.org/W3000866020","https://openalex.org/W3031653569","https://openalex.org/W3090460481","https://openalex.org/W3103037319","https://openalex.org/W3166451268","https://openalex.org/W3202635380","https://openalex.org/W4287172967","https://openalex.org/W6753188759","https://openalex.org/W6787219693"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W2102544652","https://openalex.org/W3208192858","https://openalex.org/W2618142536","https://openalex.org/W4251855072","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Planning":[0],"an":[1,23,41,80,165],"accurate":[2],"and":[3,32,64,89,120,151,176],"safe":[4,49],"trajectory":[5],"is":[6,77,139,161],"a":[7,48,105,132],"crucial":[8],"element":[9],"in":[10],"autonomous":[11,81],"driving.":[12],"To":[13,97],"execute":[14],"complex":[15],"driving":[16],"maneuvers":[17,116],"like":[18],"overtaking,":[19],"motion":[20],"planning":[21,150],"requires":[22],"enhanced":[24],"decision-making":[25],"algorithm":[26,42,146,160],"that":[27,43,157],"decides":[28],"the":[29,35,45,61,65,68,92,99,123,129,143,148,158],"when,":[30],"where":[31,84],"how":[33],"of":[34,47,67,94,104,114,122,168],"overtaking":[36,50,115],"maneuver.":[37],"This":[38],"paper":[39],"proposes":[40],"increases":[44],"likelihood":[46],"maneuver":[51],"by":[52],"learning":[53,145],"spatial":[54,57,100],"information.":[55],"Here,":[56],"information":[58],"refers":[59],"to":[60,73,79,87,110,128,163],"track":[62,172],"portion/curve":[63],"position":[66],"ego":[69,124],"vehicle":[70,125],"with":[71,126],"reference":[72],"that.":[74],"The":[75],"technique":[76],"applied":[78],"racing":[82],"setup":[83],"vehicles":[85],"have":[86],"detect":[88],"operate":[90],"at":[91,170],"limits":[93],"dynamic":[95],"handling.":[96],"learn":[98],"information,":[101],"offline":[102],"experiments":[103],"2-player":[106],"race":[107,178],"are":[108],"conducted":[109],"generate":[111],"probability":[112],"distributions":[113],"conditioned":[117],"on":[118,174],"speed":[119],"relative-position":[121],"respect":[127],"opponent.":[130],"Furthermore,":[131],"Switched":[133],"Model":[134],"Predictive":[135],"Contouring":[136],"Controller":[137],"(SMPCC)":[138],"proposed":[140,159],"for":[141],"incorporating":[142],"policy":[144],"into":[147],"path":[149],"control":[152],"setup.":[153],"Extensive":[154],"simulations":[155],"show":[156],"able":[162],"achieve":[164],"increased":[166],"number":[167],"overtakes":[169],"different":[171],"portions":[173],"known":[175],"unknown":[177],"tracks.":[179]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}