{"id":"https://openalex.org/W2149822156","doi":"https://doi.org/10.1109/icra.2011.5979587","title":"A point-based MDP for robust single-lane autonomous driving behavior under uncertainties","display_name":"A point-based MDP for robust single-lane autonomous driving behavior under uncertainties","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2149822156","doi":"https://doi.org/10.1109/icra.2011.5979587","mag":"2149822156"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5078408934","display_name":"Junqing Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junqing Wei","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute and Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078998239","display_name":"Jarrod Snider","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jarrod M. Snider","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5009781148","display_name":"Bakhtiar Litkouhi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bakhtiar Litkouhi","raw_affiliation_strings":["GM-CMU Autonomous Driving Collaborative Research Laboratory, GM Research and Development Center, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GM-CMU Autonomous Driving Collaborative Research Laboratory, GM Research and Development Center, Warren, MI, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0549,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.94119205,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2586","last_page":"2592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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/T10524","display_name":"Traffic control and management","score":0.9961000084877014,"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":0.9911999702453613,"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/markov-decision-process","display_name":"Markov decision process","score":0.7596094608306885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6723446846008301},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.5882478356361389},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5407490730285645},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48789286613464355},{"id":"https://openalex.org/keywords/decision-process","display_name":"Decision process","score":0.47223708033561707},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43959417939186096},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.437305748462677},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4361332356929779},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.43447747826576233},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.426134318113327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41757136583328247},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41318947076797485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30264464020729065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23901546001434326},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.23279708623886108},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.16576963663101196},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10892558097839355}],"concepts":[{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7596094608306885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6723446846008301},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.5882478356361389},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5407490730285645},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48789286613464355},{"id":"https://openalex.org/C2984634286","wikidata":"https://www.wikidata.org/wiki/Q1331926","display_name":"Decision process","level":2,"score":0.47223708033561707},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43959417939186096},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.437305748462677},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4361332356929779},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.43447747826576233},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.426134318113327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41757136583328247},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41318947076797485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30264464020729065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23901546001434326},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.23279708623886108},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.16576963663101196},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10892558097839355},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.2034","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.2034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W74860912","https://openalex.org/W292508636","https://openalex.org/W297984285","https://openalex.org/W1569553492","https://openalex.org/W2054469884","https://openalex.org/W2101421095","https://openalex.org/W2107556430","https://openalex.org/W2107664660","https://openalex.org/W2120581524","https://openalex.org/W2121806728","https://openalex.org/W2137270647","https://openalex.org/W2144489411","https://openalex.org/W2167224731","https://openalex.org/W2336416123","https://openalex.org/W2406067508","https://openalex.org/W3102923851","https://openalex.org/W6610758747","https://openalex.org/W6634155337","https://openalex.org/W6680535885"],"related_works":["https://openalex.org/W187740018","https://openalex.org/W2162286586","https://openalex.org/W4255368532","https://openalex.org/W4378501524","https://openalex.org/W2914760492","https://openalex.org/W2027614944","https://openalex.org/W1964650011","https://openalex.org/W2047932101","https://openalex.org/W2893113448","https://openalex.org/W2586549768"],"abstract_inverted_index":{"In":[0,58,99],"this":[1],"paper,":[2],"a":[3,28,36],"point-based":[4],"Markov":[5,29],"Decision":[6,30],"Process":[7,31],"(QMDP)":[8],"algorithm":[9,87,108],"is":[10,25],"used":[11],"for":[12],"robust":[13,113],"single-lane":[14],"autonomous":[15,66,110],"driving":[16,111],"behavior":[17],"control":[18],"under":[19,96],"uncertainties.":[20,98],"Autonomous":[21],"vehicle":[22,67,90],"decision":[23],"making":[24],"modeled":[26],"as":[27],"(MDP),":[32],"then":[33],"extended":[34],"to":[35,75,114],"QMDP":[37],"framework.":[38],"Based":[39],"on":[40],"MDP/QMDP,":[41],"three":[42],"kinds":[43],"of":[44,72],"uncertainties":[45],"are":[46],"taken":[47],"into":[48],"account:":[49],"sensor":[50,120],"noise,":[51],"perception":[52,77],"constraints":[53],"and":[54,118],"surrounding":[55],"vehicles'":[56],"behavior.":[57],"simulation,":[59],"the":[60,65,85,89,101,105],"QMDP-based":[61,107],"reasoning":[62],"framework":[63],"makes":[64,109],"perform":[68],"with":[69],"differing":[70],"levels":[71],"conservativeness":[73],"corresponding":[74],"different":[76],"confidence":[78],"levels.":[79],"Road":[80],"tests":[81],"also":[82],"indicate":[83,103],"that":[84,104],"proposed":[86,106],"helps":[88],"in":[91],"avoiding":[92],"potentially":[93],"unsafe":[94],"situations":[95],"these":[97],"general,":[100],"results":[102],"more":[112],"limited":[115],"sensing":[116],"ability":[117],"occasional":[119],"failures.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
