{"id":"https://openalex.org/W3131966680","doi":"https://doi.org/10.1109/iros45743.2020.9340886","title":"Safe Planning for Self-Driving Via Adaptive Constrained ILQR","display_name":"Safe Planning for Self-Driving Via Adaptive Constrained ILQR","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131966680","doi":"https://doi.org/10.1109/iros45743.2020.9340886","mag":"3131966680"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5061994281","display_name":"Yanjun Pan","orcid":"https://orcid.org/0000-0001-6425-7102"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yanjun Pan","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103249328","display_name":"Qin Lin","orcid":"https://orcid.org/0000-0002-5703-9112"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qin Lin","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046944892","display_name":"Het Shah","orcid":"https://orcid.org/0000-0003-0647-4875"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Het Shah","raw_affiliation_strings":["Indian Institute of Technology Kharagpur, Kharagpur, West Bengal, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Kharagpur, Kharagpur, West Bengal, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061994281"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.7307,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.84493485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2377","last_page":"2383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","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/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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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/computer-science","display_name":"Computer science","score":0.7119238376617432},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6969820857048035},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5555543899536133},{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.5440382957458496},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.5256836414337158},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5229499936103821},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.5085819959640503},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.5010120868682861},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43370622396469116},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4304957091808319},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41346651315689087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2554827928543091},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2090384066104889},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1996178925037384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1636202335357666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16267013549804688},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15888726711273193},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1501549482345581}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7119238376617432},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6969820857048035},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5555543899536133},{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.5440382957458496},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.5256836414337158},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5229499936103821},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.5085819959640503},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.5010120868682861},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43370622396469116},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4304957091808319},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41346651315689087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2554827928543091},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2090384066104889},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1996178925037384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1636202335357666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16267013549804688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15888726711273193},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1501549482345581},{"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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6299999952316284,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W105751747","https://openalex.org/W172589331","https://openalex.org/W1543022942","https://openalex.org/W1569320505","https://openalex.org/W1964946446","https://openalex.org/W1997704083","https://openalex.org/W2005354226","https://openalex.org/W2021667711","https://openalex.org/W2072372219","https://openalex.org/W2097545165","https://openalex.org/W2148361676","https://openalex.org/W2341848647","https://openalex.org/W2465115459","https://openalex.org/W2556005194","https://openalex.org/W2793066675","https://openalex.org/W2805499321","https://openalex.org/W2887463596","https://openalex.org/W2923061088","https://openalex.org/W2924607344","https://openalex.org/W3118560795","https://openalex.org/W3133096016","https://openalex.org/W4289701097","https://openalex.org/W6607093319","https://openalex.org/W6651853181","https://openalex.org/W6754401951"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W2102544652","https://openalex.org/W3208192858","https://openalex.org/W2618142536","https://openalex.org/W2155627186","https://openalex.org/W3003963711"],"abstract_inverted_index":{"Constrained":[0],"Iterative":[1],"Linear":[2],"Quadratic":[3],"Regulator":[4],"(CILQR),":[5],"a":[6,72,134,152,173,193],"variant":[7],"of":[8,18,52,112,172,203],"ILQR,":[9],"has":[10],"been":[11],"recently":[12],"proposed":[13,205],"for":[14,43,60,90,120],"motion":[15],"planning":[16],"problems":[17],"autonomous":[19],"vehicles":[20],"to":[21,132,141,183],"deal":[22],"with":[23,81,92],"constraints":[24],"such":[25],"as":[26,167,176,188],"obstacle":[27],"avoidance":[28],"and":[29,126,140,163,169,190,200],"reference":[30],"tracking.":[31],"However,":[32],"the":[33,109,113,128,157,160,164,180,204],"previous":[34],"work":[35],"considers":[36],"either":[37],"deterministic":[38],"trajectories":[39],"or":[40],"persistent":[41],"prediction":[42,75,80,101,122],"target":[44,97,165],"dynamical":[45],"obstacles.":[46],"The":[47,78,99],"other":[48],"drawback":[49],"is":[50,76,88,123],"lack":[51],"generality":[53],"-":[54],"it":[55],"requires":[56],"manual":[57],"weight":[58],"tuning":[59,145],"different":[61,138],"scenarios.":[62],"In":[63],"this":[64,149],"paper,":[65],"two":[66],"significant":[67],"improvements":[68],"are":[69],"achieved.":[70],"Firstly,":[71],"two-stage":[73],"uncertainty-aware":[74],"proposed.":[77],"short-term":[79],"safety":[82],"guarantee":[83],"based":[84],"on":[85],"reachability":[86,118],"analysis":[87],"responsible":[89],"dealing":[91],"extreme":[93],"maneuvers":[94],"conducted":[95],"by":[96,147],"vehicles.":[98],"long-term":[100,110,121],"leveraging":[102],"an":[103],"adaptive":[104],"least":[105],"square":[106],"filter":[107],"preserves":[108],"optimality":[111],"planned":[114],"trajectory":[115],"since":[116],"using":[117],"only":[119],"too":[124],"pessimistic":[125],"makes":[127],"planner":[129,206],"over-conservative.":[130],"Secondly,":[131],"allow":[133],"wider":[135],"coverage":[136],"over":[137],"scenarios":[139],"avoid":[142],"tedious":[143],"parameter":[144],"case":[146],"case,":[148],"paper":[150],"designs":[151],"scenario-based":[153],"analytical":[154],"function":[155,175],"taking":[156],"states":[158],"from":[159],"ego":[161,181],"vehicle":[162,166,182],"input,":[168],"carrying":[170],"weights":[171],"cost":[174],"output.":[177],"It":[178],"allows":[179],"execute":[184],"multiple":[185],"behaviors":[186],"(such":[187],"lane-keeping":[189],"overtaking)":[191],"under":[192],"single":[194],"planner.":[195],"We":[196],"demonstrate":[197],"safety,":[198],"effectiveness,":[199],"real-time":[201],"performance":[202],"in":[207],"simulations.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}