{"id":"https://openalex.org/W4383109279","doi":"https://doi.org/10.1109/icra48891.2023.10161472","title":"Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing","display_name":"Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109279","doi":"https://doi.org/10.1109/icra48891.2023.10161472"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161472","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":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/641557","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002462362","display_name":"Jonathan Becker","orcid":"https://orcid.org/0000-0002-6708-8604"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonathan Becker","raw_affiliation_strings":["D-ITET, ETH,Center for Project Based Learning,Zurich","Center for Project Based Learning, D-ITET, ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-ITET, ETH,Center for Project Based Learning,Zurich","institution_ids":["https://openalex.org/I4210090941"]},{"raw_affiliation_string":"Center for Project Based Learning, D-ITET, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088420124","display_name":"Nadine Imholz","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nadine Imholz","raw_affiliation_strings":["D-ITET, ETH,Center for Project Based Learning,Zurich","Center for Project Based Learning, D-ITET, ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-ITET, ETH,Center for Project Based Learning,Zurich","institution_ids":["https://openalex.org/I4210090941"]},{"raw_affiliation_string":"Center for Project Based Learning, D-ITET, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029535931","display_name":"Luca Schwarzenbach","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luca Schwarzenbach","raw_affiliation_strings":["D-ITET, ETH,Center for Project Based Learning,Zurich","Center for Project Based Learning, D-ITET, ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-ITET, ETH,Center for Project Based Learning,Zurich","institution_ids":["https://openalex.org/I4210090941"]},{"raw_affiliation_string":"Center for Project Based Learning, D-ITET, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000217766","display_name":"Edoardo Ghignone","orcid":"https://orcid.org/0000-0003-3843-2661"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Edoardo Ghignone","raw_affiliation_strings":["D-ITET, ETH,Center for Project Based Learning,Zurich","Center for Project Based Learning, D-ITET, ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-ITET, ETH,Center for Project Based Learning,Zurich","institution_ids":["https://openalex.org/I4210090941"]},{"raw_affiliation_string":"Center for Project Based Learning, D-ITET, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056914553","display_name":"Nicolas Baumann","orcid":"https://orcid.org/0000-0001-6591-1321"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nicolas Baumann","raw_affiliation_strings":["D-ITET, ETH,Center for Project Based Learning,Zurich","Center for Project Based Learning, D-ITET, ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-ITET, ETH,Center for Project Based Learning,Zurich","institution_ids":["https://openalex.org/I4210090941"]},{"raw_affiliation_string":"Center for Project Based Learning, D-ITET, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066423975","display_name":"Michele Magno","orcid":"https://orcid.org/0000-0003-0368-8923"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210090941","display_name":"Institute for Biomedical Engineering","ror":"https://ror.org/00baskk38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I202697423","https://openalex.org/I2799323385","https://openalex.org/I35440088","https://openalex.org/I4210090941"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michele Magno","raw_affiliation_strings":["D-ITET, ETH,Center for Project Based Learning,Zurich","Center for Project Based Learning, D-ITET, ETH, Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-ITET, ETH,Center for Project Based Learning,Zurich","institution_ids":["https://openalex.org/I4210090941"]},{"raw_affiliation_string":"Center for Project Based Learning, D-ITET, ETH, Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.1966,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.99533893,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5276","last_page":"5283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9988999962806702,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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/control-theory","display_name":"Control theory (sociology)","score":0.6721736788749695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6429708003997803},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6262362003326416},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6159565448760986},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5709087252616882},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5206129550933838},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4736420214176178},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.4477236866950989},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.4157191216945648},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34426453709602356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31288501620292664},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21085691452026367},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20805037021636963}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6721736788749695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6429708003997803},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6262362003326416},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6159565448760986},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5709087252616882},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5206129550933838},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4736420214176178},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.4477236866950989},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.4157191216945648},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34426453709602356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31288501620292664},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21085691452026367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20805037021636963},{"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/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48891.2023.10161472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161472","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"},{"id":"pmh:doi:10.3929/ethz-b-000641557","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"Conference Paper"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/641557","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/641557","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000641557","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000641557","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"Other"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/641557","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/641557","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5600000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1972089811","https://openalex.org/W1974358072","https://openalex.org/W2039007366","https://openalex.org/W2041448245","https://openalex.org/W2185643241","https://openalex.org/W2589640608","https://openalex.org/W2616635592","https://openalex.org/W2740508249","https://openalex.org/W2747013247","https://openalex.org/W2775081645","https://openalex.org/W2896084921","https://openalex.org/W2951357333","https://openalex.org/W2955518986","https://openalex.org/W2956095091","https://openalex.org/W3000410446","https://openalex.org/W3023209277","https://openalex.org/W3043047027","https://openalex.org/W3047366950","https://openalex.org/W3068678661","https://openalex.org/W3086993768","https://openalex.org/W3091512219","https://openalex.org/W3115474368","https://openalex.org/W3132760324","https://openalex.org/W3159759517","https://openalex.org/W3194788396","https://openalex.org/W3202635380","https://openalex.org/W3204806311","https://openalex.org/W3204990527","https://openalex.org/W4206742276","https://openalex.org/W4210567392","https://openalex.org/W4225642194","https://openalex.org/W4285228542","https://openalex.org/W4307084223","https://openalex.org/W6766014555"],"related_works":["https://openalex.org/W2368019753","https://openalex.org/W2333930193","https://openalex.org/W2737356002","https://openalex.org/W2246241526","https://openalex.org/W4301122218","https://openalex.org/W2374150061","https://openalex.org/W2161688277","https://openalex.org/W2145006118","https://openalex.org/W2784113758","https://openalex.org/W2174006685"],"abstract_inverted_index":{"Autonomous":[0],"racing":[1,30],"is":[2,138],"a":[3,21,47,83,100,124,155,169],"research":[4],"field":[5],"gaining":[6],"large":[7],"popularity,":[8],"as":[9,20],"it":[10],"pushes":[11],"autonomous":[12,25,29],"driving":[13],"algorithms":[14],"to":[15,59,82,130,165],"their":[16],"limits":[17],"and":[18,35,65,96,141],"serves":[19],"catalyst":[22],"for":[23],"general":[24],"driving.":[26],"For":[27],"scaled":[28,170],"platforms,":[31],"the":[32,39,52,72,79,108,143],"computational":[33],"constraint":[34],"complexity":[36],"often":[37],"limit":[38],"use":[40],"of":[41,74,110,123,150,158],"Model":[42],"Predictive":[43],"Control":[44],"(MPC).":[45],"As":[46],"consequence,":[48],"geometric":[49,111,133,145],"controllers":[50],"are":[51],"most":[53],"frequently":[54],"deployed":[55],"controllers.":[56,134],"They":[57],"prove":[58],"be":[60,90],"performant":[61],"while":[62,113],"yielding":[63,154],"implementation":[64],"operational":[66],"simplicity.":[67],"Yet,":[68],"they":[69],"inherently":[70],"lack":[71],"incorporation":[73],"model":[75],"dynamics,":[76],"thus":[77],"limiting":[78],"race":[80],"car":[81],"velocity":[84],"domain":[85],"where":[86],"tire":[87,115],"slip":[88],"can":[89],"neglected.":[91],"This":[92],"paper":[93],"presents":[94],"Model-":[95],"Acceleration-based":[97],"Pursuit":[98],"(MAP)":[99],"high-performance":[101],"model-based":[102],"trajectory":[103,125],"tracking":[104,122,152,156],"controller":[105,137,146],"that":[106],"preserves":[107],"simplicity":[109],"approaches":[112],"leveraging":[114],"dynamics.":[116],"The":[117,135],"proposed":[118],"algorithm":[119],"allows":[120],"accurate":[121],"at":[126,161],"unprecedented":[127],"velocities":[128],"compared":[129],"State-of-the-Art":[131],"(SotA)":[132],"MAP":[136],"experimentally":[139],"validated":[140],"outperforms":[142],"reference":[144],"four-fold":[147],"in":[148],"terms":[149],"lateral":[151],"error,":[153],"error":[157],"0.055":[159],"m":[160],"tested":[162],"speeds":[163],"up":[164],"11":[166],"m/s":[167],"on":[168],"racecar.":[171],"Code:":[172],"https://github.com/ETH-PBL/MAP-Controller.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2023-07-05T00:00:00"}