{"id":"https://openalex.org/W2760107175","doi":"https://doi.org/10.1109/icra.2018.8460966","title":"Data-Driven Model Predictive Control of Autonomous Mobility-on-Demand Systems","display_name":"Data-Driven Model Predictive Control of Autonomous Mobility-on-Demand Systems","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2760107175","doi":"https://doi.org/10.1109/icra.2018.8460966","mag":"2760107175"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460966","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1709.07032","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021358047","display_name":"Ram\u00f3n Iglesias","orcid":null},"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":true,"raw_author_name":"Ramon Iglesias","raw_affiliation_strings":["Ramon Iglesias is with the Department of Civil and Environmental Engineering, Stanford University, Stanford, CA","Ramon Iglesias is with the Department of Civil and Environmental Engineering, Stanford University, Stanford, CA, 94305"],"affiliations":[{"raw_affiliation_string":"Ramon Iglesias is with the Department of Civil and Environmental Engineering, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Ramon Iglesias is with the Department of Civil and Environmental Engineering, Stanford University, Stanford, CA, 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065789205","display_name":"Federico Rossi","orcid":"https://orcid.org/0000-0002-8091-881X"},"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":"Federico Rossi","raw_affiliation_strings":["Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA","Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, 94305"],"affiliations":[{"raw_affiliation_string":"Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, 94305","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413957","display_name":"Kevin Wang","orcid":"https://orcid.org/0000-0002-9343-6473"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kevin Wang","raw_affiliation_strings":["Kevin Wang is with Houzz Inc., Palo Alto, CA","Kevin Wang is with Houzz Inc., Palo Alto, CA, 94301"],"affiliations":[{"raw_affiliation_string":"Kevin Wang is with Houzz Inc., Palo Alto, CA","institution_ids":[]},{"raw_affiliation_string":"Kevin Wang is with Houzz Inc., Palo Alto, CA, 94301","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079356706","display_name":"David Hallac","orcid":"https://orcid.org/0000-0002-2145-2597"},"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":"David Hallac","raw_affiliation_strings":["David Hallac is with the Department of Electrical Engineering, Stanford University, Stanford, CA","David Hallac is with the Department of Electrical Engineering, Stanford University, Stanford, CA, 94305"],"affiliations":[{"raw_affiliation_string":"David Hallac is with the Department of Electrical Engineering, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"David Hallac is with the Department of Electrical Engineering, Stanford University, Stanford, CA, 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091272738","display_name":"Jure Leskovec","orcid":"https://orcid.org/0000-0002-5411-923X"},"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":"Jure Leskovec","raw_affiliation_strings":["Jure Leskovec is with the Department of Computer Science, Stanford University, Stanford, CA","Jure Leskovec is with the Department of Computer Science, Stanford University, Stanford, CA, 94305"],"affiliations":[{"raw_affiliation_string":"Jure Leskovec is with the Department of Computer Science, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Jure Leskovec is with the Department of Computer Science, Stanford University, Stanford, CA, 94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"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"]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA","Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, 94305"],"affiliations":[{"raw_affiliation_string":"Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Federico Rossi and Marco Pavone are with the Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, 94305","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5021358047"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.1968,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80566507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9998999834060669,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9998999834060669,"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7579730749130249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7301363945007324},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5550119876861572},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5137397050857544},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5097422003746033},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4543572664260864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21012407541275024},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16613513231277466}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7579730749130249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7301363945007324},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5550119876861572},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5137397050857544},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5097422003746033},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4543572664260864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21012407541275024},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16613513231277466},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2018.8460966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460966","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"},{"id":"pmh:oai:arXiv.org:1709.07032","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1709.07032","pdf_url":"https://arxiv.org/pdf/1709.07032","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2760107175","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1709.07032","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1709.07032","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1709.07032","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1709.07032","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1709.07032","pdf_url":"https://arxiv.org/pdf/1709.07032","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2760107175.pdf","grobid_xml":"https://content.openalex.org/works/W2760107175.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W855132903","https://openalex.org/W1970180010","https://openalex.org/W1971222754","https://openalex.org/W1977545325","https://openalex.org/W1990110120","https://openalex.org/W2064526960","https://openalex.org/W2064675550","https://openalex.org/W2157331557","https://openalex.org/W2263673729","https://openalex.org/W2466855259","https://openalex.org/W2522982751","https://openalex.org/W2569460227","https://openalex.org/W2572984335","https://openalex.org/W2583189593","https://openalex.org/W2963472564","https://openalex.org/W6642667715","https://openalex.org/W6642942431","https://openalex.org/W6692666454","https://openalex.org/W6727645556","https://openalex.org/W6731786745","https://openalex.org/W6732635968"],"related_works":["https://openalex.org/W2963679997","https://openalex.org/W2263673729","https://openalex.org/W3207002350","https://openalex.org/W3205360844","https://openalex.org/W3163928528","https://openalex.org/W3015091326","https://openalex.org/W3088811657","https://openalex.org/W3015295488","https://openalex.org/W3120236755","https://openalex.org/W2810878778","https://openalex.org/W585137920","https://openalex.org/W2910442666","https://openalex.org/W2791449870","https://openalex.org/W2987896857","https://openalex.org/W3021914742","https://openalex.org/W2969014343","https://openalex.org/W3137633810","https://openalex.org/W1999082274","https://openalex.org/W3132885610","https://openalex.org/W2943450655"],"abstract_inverted_index":{"The":[0],"goal":[1],"of":[2,20,98,126,136,139],"this":[3,60,99,114],"paper":[4],"is":[5],"to":[6,12,62,79,107,158,159],"present":[7,34],"an":[8],"end-to-end,":[9],"data-driven":[10],"framework":[11],"control":[13],"Autonomous":[14],"Mobility-on-Demand":[15],"systems":[16,121],"(AMoD,":[17],"i.e.":[18],"fleets":[19],"self-driving":[21],"vehicles).":[22],"We":[23],"first":[24],"model":[25],"the":[26,39,47,95,123,127,134,142,151],"AMoD":[27],"system":[28],"using":[29],"a":[30,35,53,64,102],"time-expanded":[31],"network,":[32],"and":[33,46,138,144],"formulation":[36,61],"that":[37,70,113],"computes":[38],"optimal":[40],"rebalancing":[41,81,147],"strategy":[42],"(i.e.,":[43],"preemptive":[44],"repositioning)":[45],"minimum":[48],"feasible":[49],"fleet":[50],"size":[51],"for":[52,119],"given":[54],"travel":[55],"demand.":[56],"Then,":[57],"we":[58,93,111],"adapt":[59],"devise":[63],"Model":[65],"Predictive":[66],"Control":[67],"(MPC)":[68],"algorithm":[69,129],"leverages":[71],"short-term":[72],"demand":[73],"forecasts":[74],"based":[75,85],"on":[76,86,133],"historical":[77],"data":[78,89],"compute":[80],"strategies.":[82],"Using":[83],"simulations":[84],"real":[87],"customer":[88,109,153],"from":[90],"DiDi":[91],"Chuxing,":[92],"test":[94],"end-to-end":[96],"performance":[97],"controller":[100],"with":[101],"state-of-the-art":[103,146],"LSTM":[104],"neural":[105],"network":[106],"predict":[108],"demand:":[110],"show":[112],"approach":[115],"scales":[116],"very":[117],"well":[118],"large":[120],"(indeed,":[122],"computational":[124],"complexity":[125],"MPC":[128],"does":[130],"not":[131],"depend":[132],"number":[135],"customers":[137],"vehicles":[140],"in":[141],"system)":[143],"outperforms":[145],"strategies":[148],"by":[149,156],"reducing":[150],"mean":[152],"wait":[154],"time":[155],"up":[157],"89.6":[160],"%.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}