{"id":"https://openalex.org/W4383108721","doi":"https://doi.org/10.1109/icra48891.2023.10161330","title":"A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments","display_name":"A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108721","doi":"https://doi.org/10.1109/icra48891.2023.10161330"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5033755663","display_name":"Jason Gibson","orcid":"https://orcid.org/0000-0002-1439-2987"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jason Gibson","raw_affiliation_strings":["Georgia Institute of Technology,Autonomous Control and Decision Systems Lab,Atlanta,GA,USA,30313"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Autonomous Control and Decision Systems Lab,Atlanta,GA,USA,30313","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072885377","display_name":"Bogdan Vlahov","orcid":"https://orcid.org/0000-0003-0224-6664"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bogdan Vlahov","raw_affiliation_strings":["Georgia Institute of Technology,Autonomous Control and Decision Systems Lab,Atlanta,GA,USA,30313"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Autonomous Control and Decision Systems Lab,Atlanta,GA,USA,30313","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111674737","display_name":"David P. Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Fan","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006271370","display_name":"Patrick Spieler","orcid":"https://orcid.org/0000-0002-7538-135X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Spieler","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009826991","display_name":"D. Pastor","orcid":"https://orcid.org/0000-0002-5297-3918"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Pastor","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,NASA Jet Propulsion Laboratory,Pasadena,CA,USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044505993","display_name":"Evangelos A. Theodorou","orcid":"https://orcid.org/0000-0002-0834-5738"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos A. Theodorou","raw_affiliation_strings":["Georgia Institute of Technology,Autonomous Control and Decision Systems Lab,Atlanta,GA,USA,30313"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Autonomous Control and Decision Systems Lab,Atlanta,GA,USA,30313","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5033755663"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.6723,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67751817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7959","last_page":"7965"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"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":0.9961000084877014,"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":0.9918000102043152,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9839000105857849,"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/computer-science","display_name":"Computer science","score":0.7869528532028198},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7535452842712402},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.6641945242881775},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5799062848091125},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5562875270843506},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5506482124328613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5396184921264648},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.44495972990989685},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4281449019908905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3932148218154907},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.31627872586250305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2867358922958374},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2673962116241455},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13026952743530273}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7869528532028198},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7535452842712402},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.6641945242881775},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5799062848091125},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5562875270843506},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5506482124328613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5396184921264648},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.44495972990989685},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4281449019908905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3932148218154907},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31627872586250305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2867358922958374},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2673962116241455},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13026952743530273},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W175136955","https://openalex.org/W1522301498","https://openalex.org/W1997543377","https://openalex.org/W2054994117","https://openalex.org/W2064675550","https://openalex.org/W2086760764","https://openalex.org/W2102928860","https://openalex.org/W2164680368","https://openalex.org/W2410617946","https://openalex.org/W2619551236","https://openalex.org/W2890491818","https://openalex.org/W2899534962","https://openalex.org/W2917222999","https://openalex.org/W2954115742","https://openalex.org/W2963121266","https://openalex.org/W2963238245","https://openalex.org/W2969311375","https://openalex.org/W2991364595","https://openalex.org/W3006904497","https://openalex.org/W3029122934","https://openalex.org/W3081383310","https://openalex.org/W3105252106","https://openalex.org/W3127454018","https://openalex.org/W3129245057","https://openalex.org/W3129417598","https://openalex.org/W3174748154","https://openalex.org/W3204782551","https://openalex.org/W4295312788","https://openalex.org/W6766978945","https://openalex.org/W6778695474","https://openalex.org/W6782225615"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W4309137623","https://openalex.org/W3179470708","https://openalex.org/W2166220596","https://openalex.org/W2123881033","https://openalex.org/W2787146399","https://openalex.org/W4390187686","https://openalex.org/W2111152968","https://openalex.org/W2583798032"],"abstract_inverted_index":{"Modeling":[0],"dynamics":[1,43,67,108],"is":[2,143,154,172],"often":[3,144],"the":[4,72,98,107,126,136],"first":[5],"step":[6],"to":[7,105,174],"making":[8],"a":[9,63,86,93,102,110,130,145,183],"vehicle":[10,29,42,114],"autonomous.":[11],"While":[12],"on-road":[13],"autonomous":[14],"vehicles":[15,21],"have":[16],"been":[17],"extensively":[18],"studied,":[19],"off-road":[20,28],"pose":[22],"many":[23],"challenging":[24,190],"modeling":[25,75],"problems.":[26],"An":[27],"encounters":[30],"highly":[31],"complex":[32,41],"and":[33,56,77],"difficult-to-model":[34],"terrain/vehicle":[35],"interactions,":[36],"as":[37,39,97,156],"well":[38],"having":[40,125],"of":[44,74,109,177,186],"its":[45],"own.":[46],"These":[47],"complexities":[48],"can":[49],"create":[50],"challenges":[51],"for":[52,65,80,138,162],"effective":[53],"high-speed":[54],"control":[55],"planning.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61,134,167],"introduce":[62],"framework":[64,153],"multistep":[66],"prediction":[68],"that":[69,142,169],"explicitly":[70],"handles":[71],"accumulation":[73],"error":[76],"remains":[78],"scalable":[79],"sampling-based":[81],"controllers.":[82],"Our":[83,152],"method":[84,171],"uses":[85],"specially-initialized":[87],"Long":[88],"Short-Term":[89],"Memory":[90],"(LSTM)":[91],"over":[92,129],"limited":[94],"time":[95,132,184],"horizon":[96,185],"learned":[99],"component":[100],"in":[101,119,180,189],"hybrid":[103],"model":[104],"predict":[106,128,175],"4-person":[111],"seating":[112],"all-terrain":[113],"(Polaris":[115],"S4":[116],"1000":[117],"RZR)":[118],"two":[120],"distinct":[121],"environments.":[122],"By":[123],"only":[124,158],"LSTM":[127],"fixed":[131],"horizon,":[133],"negate":[135],"need":[137],"long":[139],"term":[140],"stability":[141],"challenge":[146],"when":[147],"training":[148],"recurrent":[149],"neural":[150],"networks.":[151],"flexible":[155],"it":[157],"requires":[159],"odometry":[160],"information":[161],"labels.":[163],"Through":[164],"extensive":[165],"experimentation,":[166],"show":[168],"our":[170],"able":[173],"millions":[176],"possible":[178],"trajectories":[179],"real-time,":[181],"with":[182],"five":[187],"seconds":[188],"off":[191],"road":[192],"driving":[193],"scenarios.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}