{"id":"https://openalex.org/W2890883362","doi":"https://doi.org/10.1109/icra.2018.8460898","title":"Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells","display_name":"Safe Distributed Lane Change Maneuvers for Multiple Autonomous Vehicles Using Buffered Input Cells","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890883362","doi":"https://doi.org/10.1109/icra.2018.8460898","mag":"2890883362"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100350104","display_name":"Mingyu Wang","orcid":"https://orcid.org/0000-0002-0063-7445"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyu Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371700","display_name":"Zijian Wang","orcid":"https://orcid.org/0000-0001-9402-8423"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zijian Wang","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038994466","display_name":"Shreyasha Paudel","orcid":null},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyasha Paudel","raw_affiliation_strings":["Ford Research and Innovation Center, Palo Alto, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Research and Innovation Center, Palo Alto, CA, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mac Schwager","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5441,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.92605402,"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":"4678","last_page":"4684"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991000294685364,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9976000189781189,"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/computer-science","display_name":"Computer science","score":0.6732529401779175},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4416915774345398},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34986674785614014}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732529401779175},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4416915774345398},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34986674785614014}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5699999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W192919555","https://openalex.org/W1424654272","https://openalex.org/W1488006703","https://openalex.org/W1584040247","https://openalex.org/W1605929701","https://openalex.org/W1965760189","https://openalex.org/W2002440441","https://openalex.org/W2018123312","https://openalex.org/W2041542399","https://openalex.org/W2102104695","https://openalex.org/W2103595974","https://openalex.org/W2124651605","https://openalex.org/W2142943472","https://openalex.org/W2148361676","https://openalex.org/W2162991084","https://openalex.org/W2165216595","https://openalex.org/W2209116470","https://openalex.org/W2234962923","https://openalex.org/W2343568200","https://openalex.org/W2402106645","https://openalex.org/W2573311857","https://openalex.org/W2588802774","https://openalex.org/W2594201198","https://openalex.org/W2891392570","https://openalex.org/W2964170993","https://openalex.org/W3135693734","https://openalex.org/W6636376383","https://openalex.org/W6682624850","https://openalex.org/W6688386007","https://openalex.org/W6693111180","https://openalex.org/W6754479381","https://openalex.org/W6791207710"],"related_works":["https://openalex.org/W2998813341","https://openalex.org/W1587227328","https://openalex.org/W1986253068","https://openalex.org/W1967954938","https://openalex.org/W2160425906","https://openalex.org/W1596201972","https://openalex.org/W2126451717","https://openalex.org/W1596615495","https://openalex.org/W1880774266","https://openalex.org/W1485627940"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"the":[3,26,71,120,153],"Buffered":[4,27,47,121],"Input":[5,48,122],"Cell":[6,29,49,123],"as":[7,83],"a":[8,87,97,107,110,114,142],"reciprocal":[9],"collision":[10,80,125],"avoidance":[11,81],"method":[12,60,82,155],"for":[13,93,124],"multiple":[14,136],"vehicles":[15,137],"with":[16,135,159],"high-order":[17],"linear":[18],"dynamics,":[19],"extending":[20],"recently":[21],"proposed":[22],"methods":[23],"based":[24],"on":[25,141],"Voronoi":[28,33],"[1]":[30],"and":[31,64,119],"generalized":[32],"diagrams":[34],"[2].":[35],"We":[36,77,127,144],"prove":[37],"that":[38,67,131,149],"if":[39],"each":[40,51,68],"vehicle's":[41],"control":[42,91,104],"input":[43],"remains":[44],"in":[45,96,129,147],"its":[46],"at":[50],"time":[52],"step,":[53],"collisions":[54,132,158],"will":[55],"be":[56],"avoided":[57,134],"indefinitely.":[58],"The":[59,101],"is":[61],"fast,":[62],"reactive,":[63],"only":[65],"requires":[66],"vehicle":[69],"measures":[70],"relative":[72],"position":[73],"of":[74,86],"neighboring":[75],"vehicles.":[76],"incorporate":[78],"this":[79],"one":[84],"layer":[85],"complete":[88],"lane":[89,102],"change":[90,103],"stack":[92,105],"autonomous":[94,150],"cars":[95,151],"freeway":[98],"driving":[99],"scenario.":[100],"comprises":[106],"decision-making":[108],"layer,":[109,113],"trajectory":[111,115],"planning":[112],"following":[116],"feedback":[117],"controller,":[118],"avoidance.":[126],"show":[128,146],"simulations":[130,148],"are":[133],"simultaneously":[138],"changing":[139],"lanes":[140],"freeway.":[143],"also":[145],"using":[152],"BIC":[154],"effectively":[156],"avoid":[157],"an":[160],"aggressive":[161],"human-driven":[162],"car.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
