{"id":"https://openalex.org/W7161826063","doi":"https://doi.org/10.1109/icarsc70216.2026.11523352","title":"Real-Time Model Predictive Control for High-Speed Mobile Robots","display_name":"Real-Time Model Predictive Control for High-Speed Mobile Robots","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7161826063","doi":"https://doi.org/10.1109/icarsc70216.2026.11523352"},"language":null,"primary_location":{"id":"doi:10.1109/icarsc70216.2026.11523352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc70216.2026.11523352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5022683649","display_name":"Duarte Domingues","orcid":null},"institutions":[{"id":"https://openalex.org/I110026055","display_name":"Iscte \u2013 Instituto Universit\u00e1rio de Lisboa","ror":"https://ror.org/014837179","country_code":"PT","type":"education","lineage":["https://openalex.org/I110026055"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Duarte Domingues","raw_affiliation_strings":["Universidade de Lisboa,Instituto Superior T&#x00E9;cnico,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade de Lisboa,Instituto Superior T&#x00E9;cnico,Portugal","institution_ids":["https://openalex.org/I110026055","https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078807181","display_name":"Alberto Vale","orcid":"https://orcid.org/0000-0003-3423-3905"},"institutions":[{"id":"https://openalex.org/I110026055","display_name":"Iscte \u2013 Instituto Universit\u00e1rio de Lisboa","ror":"https://ror.org/014837179","country_code":"PT","type":"education","lineage":["https://openalex.org/I110026055"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alberto Vale","raw_affiliation_strings":["Universidade de Lisboa,Instituto Superior T&#x00E9;cnico,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade de Lisboa,Instituto Superior T&#x00E9;cnico,Portugal","institution_ids":["https://openalex.org/I110026055","https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136523053","display_name":"Jos\u00e9 Gaspar","orcid":null},"institutions":[{"id":"https://openalex.org/I110026055","display_name":"Iscte \u2013 Instituto Universit\u00e1rio de Lisboa","ror":"https://ror.org/014837179","country_code":"PT","type":"education","lineage":["https://openalex.org/I110026055"]},{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Gaspar","raw_affiliation_strings":["Universidade de Lisboa,Instituto Superior T&#x00E9;cnico,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade de Lisboa,Instituto Superior T&#x00E9;cnico,Portugal","institution_ids":["https://openalex.org/I110026055","https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.52790974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"256","last_page":"261"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.436599999666214,"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":0.436599999666214,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.24799999594688416,"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":0.05849999934434891,"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/model-predictive-control","display_name":"Model predictive control","score":0.5812000036239624},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45239999890327454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35920000076293945},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.3531999886035919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34779998660087585},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32429999113082886},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3149999976158142}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5812000036239624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5351999998092651},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45239999890327454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35920000076293945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3587000072002411},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34779998660087585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33239999413490295},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3183000087738037},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30559998750686646},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.26159998774528503},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26089999079704285},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2587999999523163}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc70216.2026.11523352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc70216.2026.11523352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2035298324","https://openalex.org/W2130422193","https://openalex.org/W2296267969","https://openalex.org/W2411093439","https://openalex.org/W2619551236","https://openalex.org/W2735863046","https://openalex.org/W2745007981","https://openalex.org/W2951357333","https://openalex.org/W3132760324","https://openalex.org/W4206713226","https://openalex.org/W4285228542","https://openalex.org/W4401414332"],"related_works":[],"abstract_inverted_index":{"This":[0,81],"work":[1],"presents":[2],"a":[3,9,69,84],"complete":[4],"autonomous":[5],"racing":[6],"stack":[7],"for":[8,38,87],"1/10-scale":[10],"F1TENTH":[11],"vehicle,":[12],"addressing":[13],"perception,":[14],"planning,":[15],"and":[16,26,35,55,67,78],"control":[17,90],"on":[18,96],"embedded":[19],"hardware.":[20],"The":[21],"perception":[22],"module":[23],"fuses":[24],"LiDAR":[25],"IMU":[27],"data":[28],"via":[29],"an":[30],"Extended":[31],"Kalman":[32],"Filter":[33],"(EKF)":[34],"Cartographer-based":[36],"SLAM":[37],"drift-compensated":[39],"localization.":[40],"A":[41],"planner":[42],"was":[43],"implemented":[44],"that":[45],"extracts":[46],"smooth":[47],"centerlines":[48],"from":[49],"occupancy":[50],"grids,":[51],"coupled":[52],"with":[53],"Kinematic":[54],"Dynamic":[56],"Model":[57],"Predictive":[58],"Control":[59],"(MPC)":[60],"in":[61,65,68],"curvilinear":[62],"coordinates.":[63],"Experiments":[64],"simulation":[66],"real":[70],"scenario":[71],"demonstrated":[72],"real-time":[73],"feasibility,":[74],"stable":[75],"trajectory":[76],"tracking,":[77],"bounded":[79],"errors.":[80],"framework":[82],"offers":[83],"reproducible":[85],"approach":[86],"deploying":[88],"optimization-based":[89],"near":[91],"the":[92],"limits":[93],"of":[94],"handling":[95],"resource-constrained":[97],"systems1.":[98]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-05-21T00:00:00"}
