{"id":"https://openalex.org/W2951943200","doi":"https://doi.org/10.1109/icarsc.2019.8733653","title":"Short-term Path Planning with Multiple Moving Obstacle Avoidance based on Adaptive MPC","display_name":"Short-term Path Planning with Multiple Moving Obstacle Avoidance based on Adaptive MPC","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2951943200","doi":"https://doi.org/10.1109/icarsc.2019.8733653","mag":"2951943200"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2019.8733653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733653","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5035999057","display_name":"Alberto Franco","orcid":null},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alberto Franco","raw_affiliation_strings":["Department of Information Engineering, Universit\u00e0 degli Studi di Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Universit\u00e0 degli Studi di Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009031394","display_name":"V\u00edtor Santos","orcid":"https://orcid.org/0000-0003-1283-7388"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Vitor Santos","raw_affiliation_strings":["Department of Mechanical Engineering, Universidade de Aveiro, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Universidade de Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035999057"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":null,"apc_paid":null,"fwci":1.81791774,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.85450171,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9957000017166138,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9957000017166138,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"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":0.9922999739646912,"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/motion-planning","display_name":"Motion planning","score":0.8277024030685425},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8063533306121826},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7705867290496826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7243074774742126},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7107729911804199},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6988868713378906},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6534789800643921},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.6319856643676758},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.546952486038208},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.5444076061248779},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45949697494506836},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4587865173816681},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37758058309555054},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3473360538482666},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3427642583847046},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3218967914581299},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3046504557132721},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2734910249710083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21678385138511658},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16480213403701782},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10946407914161682}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8277024030685425},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8063533306121826},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7705867290496826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7243074774742126},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7107729911804199},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6988868713378906},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6534789800643921},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.6319856643676758},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.546952486038208},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.5444076061248779},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45949697494506836},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4587865173816681},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37758058309555054},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3473360538482666},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3427642583847046},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3218967914581299},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3046504557132721},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2734910249710083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21678385138511658},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16480213403701782},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10946407914161682},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc.2019.8733653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733653","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1631623342","https://openalex.org/W1851495196","https://openalex.org/W1878563552","https://openalex.org/W1965381690","https://openalex.org/W1974636618","https://openalex.org/W1997704083","https://openalex.org/W2003020896","https://openalex.org/W2054300263","https://openalex.org/W2093699968","https://openalex.org/W2099016094","https://openalex.org/W2103639171","https://openalex.org/W2113265921","https://openalex.org/W2273397691","https://openalex.org/W2341848647","https://openalex.org/W2489813653","https://openalex.org/W2509678276","https://openalex.org/W2740034659","https://openalex.org/W2777245739","https://openalex.org/W2787735543","https://openalex.org/W2942106772","https://openalex.org/W3098047565","https://openalex.org/W4302436361"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W2346323633","https://openalex.org/W1971413691"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,25],"different":[4,88],"strategy":[5],"for":[6,92],"self-driving":[8],"car":[9],"short-term":[10],"path":[11],"planning":[12,27],"among":[13],"multiple":[14],"moving":[15,39],"obstacles.":[16],"The":[17,52],"main":[18],"task":[19],"is":[20],"to":[21,33],"study":[22],"and":[23,28,45,50,77,81],"implement":[24],"motion":[26],"execution":[29],"framework":[30],"in":[31,67],"order":[32],"make":[34],"ATLASCAR2":[35],"coexist":[36],"with":[37],"other":[38],"obstacle":[40],"vehicles":[41],"by":[42],"avoiding":[43],"collision":[44],"overtake":[46],"them":[47],"when":[48],"necessary":[49],"possible.":[51],"proposed":[53],"technique,":[54],"based":[55],"on":[56],"the":[57,79,82,85],"Model":[58],"Predictive":[59],"Control":[60],"paradigm,":[61],"solves":[62],"an":[63],"optimization":[64],"problem":[65],"formulated":[66],"terms":[68],"of":[69,84],"cost":[70],"minimization":[71],"under":[72],"constraints.":[73],"Simulation":[74],"results":[75],"demonstrate":[76],"verify":[78],"feasibility":[80],"usefulness":[83],"method":[86],"considering":[87],"scenarios,":[89],"opening":[90],"space":[91],"real":[93],"scenario":[94],"implementation.":[95]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}