{"id":"https://openalex.org/W3006010400","doi":"https://doi.org/10.1109/icra40945.2020.9197346","title":"On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor","display_name":"On sensing-aware model predictive path-following control for a reversing general 2-trailer with a car-like tractor","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3006010400","doi":"https://doi.org/10.1109/icra40945.2020.9197346","mag":"3006010400"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/2002.06874","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077008561","display_name":"Oskar Ljungqvist","orcid":"https://orcid.org/0000-0002-1795-5992"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Oskar Ljungqvist","raw_affiliation_strings":["Department of Automatic Control, Link\u00f6ping University, Link\u00f6ping, Sweden","Link\u00f6ping University,Department of Automatic Control,Link\u00f6ping,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Link\u00f6ping University,Department of Automatic Control,Link\u00f6ping,Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028497393","display_name":"Daniel Axehill","orcid":"https://orcid.org/0000-0001-6957-2603"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Axehill","raw_affiliation_strings":["Department of Automatic Control, Link\u00f6ping University, Link\u00f6ping, Sweden","Link\u00f6ping University,Department of Automatic Control,Link\u00f6ping,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Link\u00f6ping University,Department of Automatic Control,Link\u00f6ping,Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077546085","display_name":"Henrik Pettersson","orcid":"https://orcid.org/0009-0000-7050-160X"},"institutions":[{"id":"https://openalex.org/I1294350288","display_name":"Scania (Sweden)","ror":"https://ror.org/03g4sde39","country_code":"SE","type":"company","lineage":["https://openalex.org/I1294350288"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Henrik Pettersson","raw_affiliation_strings":["Scania CV, S\u00f6dert\u00e4lje, Sweden","Scania CV, S\u00f6dert\u00e4lje, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scania CV, S\u00f6dert\u00e4lje, Sweden","institution_ids":["https://openalex.org/I1294350288"]},{"raw_affiliation_string":"Scania CV, S\u00f6dert\u00e4lje, Sweden#TAB#","institution_ids":["https://openalex.org/I1294350288"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3962,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61774181,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8813","last_page":"8819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T10805","display_name":"Vehicle Dynamics and Control Systems","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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":0.9988999962806702,"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/reversing","display_name":"Reversing","score":0.7729476690292358},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.7393858432769775},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6274486184120178},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.6150670647621155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5561509728431702},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5471099019050598},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5423281192779541},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5278503894805908},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4929654598236084},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47853001952171326},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4351285398006439},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3525848388671875},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3211202025413513},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32054001092910767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28767579793930054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1732254922389984}],"concepts":[{"id":"https://openalex.org/C2781085045","wikidata":"https://www.wikidata.org/wiki/Q7318308","display_name":"Reversing","level":2,"score":0.7729476690292358},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.7393858432769775},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6274486184120178},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.6150670647621155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5561509728431702},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5471099019050598},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5423281192779541},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5278503894805908},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4929654598236084},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47853001952171326},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4351285398006439},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3525848388671875},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3211202025413513},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32054001092910767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28767579793930054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1732254922389984},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/icra40945.2020.9197346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2002.06874","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.06874","pdf_url":"https://arxiv.org/pdf/2002.06874","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:3006010400","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2002.06874","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.2002.06874","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2002.06874","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2002.06874","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2002.06874","pdf_url":"https://arxiv.org/pdf/2002.06874","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":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3006010400.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1634952812","https://openalex.org/W1724370735","https://openalex.org/W1900193338","https://openalex.org/W1978956894","https://openalex.org/W1997304447","https://openalex.org/W2010494680","https://openalex.org/W2013439434","https://openalex.org/W2060613430","https://openalex.org/W2102119157","https://openalex.org/W2112389721","https://openalex.org/W2113950786","https://openalex.org/W2127962152","https://openalex.org/W2127988032","https://openalex.org/W2165951625","https://openalex.org/W2169468938","https://openalex.org/W2170865124","https://openalex.org/W2327176197","https://openalex.org/W2343568200","https://openalex.org/W2393211083","https://openalex.org/W2508058295","https://openalex.org/W2547565253","https://openalex.org/W2562275027","https://openalex.org/W2613938947","https://openalex.org/W2765798687","https://openalex.org/W2792295326","https://openalex.org/W2967606622","https://openalex.org/W2981547524","https://openalex.org/W3005433538","https://openalex.org/W3103631595","https://openalex.org/W6724800911"],"related_works":["https://openalex.org/W3091017993","https://openalex.org/W3103631595","https://openalex.org/W2972480757","https://openalex.org/W2904099029","https://openalex.org/W1556508276","https://openalex.org/W2952741263","https://openalex.org/W2964933774","https://openalex.org/W86599305","https://openalex.org/W2765348817","https://openalex.org/W1502087141","https://openalex.org/W2521601081","https://openalex.org/W2791810658","https://openalex.org/W2132296688","https://openalex.org/W2612638311","https://openalex.org/W2786734102","https://openalex.org/W2158440335","https://openalex.org/W3012068469","https://openalex.org/W3012520026","https://openalex.org/W2533763014","https://openalex.org/W2741651693"],"abstract_inverted_index":{"The":[0],"design":[1],"of":[2,13,67,99,127,134],"reliable":[3],"path-following":[4,104,130],"controllers":[5],"is":[6,19,106,119,143],"a":[7,23,27,57,64,101,148],"key":[8],"ingredient":[9],"for":[10,22],"successful":[11],"deployment":[12],"self-driving":[14],"vehicles.":[15],"This":[16],"controller-design":[17],"problem":[18,77],"especially":[20],"challenging":[21],"general":[24],"2-trailer":[25],"with":[26,63],"car-like":[28,43],"tractor":[29],"due":[30],"to":[31,53,72,147],"the":[32,42,50,74,97,110,125,128,153],"vehicle's":[33,111],"structurally":[34],"unstable":[35],"joint-angle":[36,75],"kinematics":[37],"in":[38,121,132],"backward":[39],"motion":[40],"and":[41,55,113,137],"tractor's":[44],"curvature":[45],"limitations":[46,115],"which":[47,79,84],"can":[48,88],"cause":[49],"vehicle":[51,85],"segments":[52],"fold":[54],"enter":[56],"jackknife":[58],"state.":[59],"Furthermore,":[60],"advanced":[61],"sensors":[62],"limited":[65],"field":[66],"view":[68],"have":[69,155],"been":[70,156],"proposed":[71,129,150],"solve":[73],"estimation":[76],"online,":[78],"introduce":[80],"additional":[81],"restrictions":[82,95],"on":[83],"states":[86,142],"that":[87,124],"be":[89],"reliably":[90],"estimated.":[91],"To":[92],"incorporate":[93],"these":[94],"at":[96],"level":[98],"control,":[100],"model":[102],"predictive":[103],"controller":[105,131],"proposed.":[107],"By":[108],"taking":[109],"physical":[112],"sensing":[114],"into":[116],"account,":[117],"it":[118],"shown":[120],"real-world":[122],"experiments":[123],"performance":[126],"terms":[133],"suppressing":[135],"disturbances":[136],"recovering":[138],"from":[139],"non-trivial":[140],"initial":[141],"significantly":[144],"improved":[145],"compared":[146],"previously":[149],"solution":[151],"where":[152],"constraints":[154],"neglected.":[157]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}