{"id":"https://openalex.org/W3012528497","doi":"https://doi.org/10.1109/iros45743.2020.9341731","title":"Optimization-Based Hierarchical Motion Planning for Autonomous Racing","display_name":"Optimization-Based Hierarchical Motion Planning for Autonomous Racing","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3012528497","doi":"https://doi.org/10.1109/iros45743.2020.9341731","mag":"3012528497"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341731","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.04882","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101790931","display_name":"Jos\u00e9 Lu\u00eds V\u00e1zquez","orcid":"https://orcid.org/0000-0002-8314-3378"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jose L. Vazquez","raw_affiliation_strings":["ETH,Automatic Control Lab,Zurich,Switzerland","ETH Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Automatic Control Lab,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060546022","display_name":"Marius Br\u00fchlmeier","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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marius Bruhlmeier","raw_affiliation_strings":["ETH,Automatic Control Lab,Zurich,Switzerland","ETH Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Automatic Control Lab,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048742998","display_name":"Alexander Liniger","orcid":"https://orcid.org/0000-0002-7858-7900"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Liniger","raw_affiliation_strings":["ETH,Computer Vision Lab,Zurich,Switzerland","ETH Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Computer Vision Lab,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058099719","display_name":"Alisa Rupenyan","orcid":"https://orcid.org/0000-0002-2170-8564"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alisa Rupenyan","raw_affiliation_strings":["ETH,Automatic Control Lab,Zurich,Switzerland","ETH Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Automatic Control Lab,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007359599","display_name":"John Lygeros","orcid":"https://orcid.org/0000-0002-6159-1962"},"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"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"John Lygeros","raw_affiliation_strings":["ETH,Automatic Control Lab,Zurich,Switzerland","ETH Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH,Automatic Control Lab,Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2397","last_page":"2403"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9968000054359436,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7365682721138},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7034161686897278},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6275625228881836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.614864706993103},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5648426413536072},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5542815327644348},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.49258118867874146},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4631141722202301},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45888763666152954},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4461374282836914},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41534319519996643},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3840847611427307},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3563513159751892},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.35223421454429626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3246561884880066},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2613590955734253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1889573335647583},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1705102026462555},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1492777168750763}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7365682721138},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7034161686897278},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6275625228881836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.614864706993103},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5648426413536072},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5542815327644348},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.49258118867874146},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4631141722202301},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45888763666152954},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4461374282836914},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41534319519996643},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3840847611427307},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3563513159751892},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.35223421454429626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3246561884880066},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2613590955734253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1889573335647583},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1705102026462555},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1492777168750763},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341731","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"},{"id":"pmh:oai:arXiv.org:2003.04882","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.04882","pdf_url":"https://arxiv.org/pdf/2003.04882","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":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2003.04882","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.04882","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"},{"id":"mag:3012528497","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.04882","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.04882","pdf_url":"https://arxiv.org/pdf/2003.04882","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012528497.pdf","grobid_xml":"https://content.openalex.org/works/W3012528497.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W102190310","https://openalex.org/W1578293866","https://openalex.org/W1963788580","https://openalex.org/W2013753693","https://openalex.org/W2020640576","https://openalex.org/W2023136445","https://openalex.org/W2027758424","https://openalex.org/W2123871098","https://openalex.org/W2343568200","https://openalex.org/W2477231637","https://openalex.org/W2505763307","https://openalex.org/W2529203031","https://openalex.org/W2577695053","https://openalex.org/W2585477135","https://openalex.org/W2607001947","https://openalex.org/W2938706055","https://openalex.org/W2943945102","https://openalex.org/W2954115742","https://openalex.org/W2963598509","https://openalex.org/W2964330448","https://openalex.org/W2967807634","https://openalex.org/W2968777386","https://openalex.org/W3000866020","https://openalex.org/W3040475430","https://openalex.org/W6655535153","https://openalex.org/W6762522895"],"related_works":["https://openalex.org/W3132760324","https://openalex.org/W3120906468","https://openalex.org/W2579079601","https://openalex.org/W2212889974","https://openalex.org/W3128479020","https://openalex.org/W3000773820","https://openalex.org/W3128019590","https://openalex.org/W2988105160","https://openalex.org/W2326206646","https://openalex.org/W2899674859","https://openalex.org/W3042678697","https://openalex.org/W3210970854","https://openalex.org/W2773960818","https://openalex.org/W2318180918","https://openalex.org/W2994369008","https://openalex.org/W2606978426","https://openalex.org/W3099057979","https://openalex.org/W2899684168","https://openalex.org/W2972863667","https://openalex.org/W2896794071"],"abstract_inverted_index":{"In":[0],"this":[1,87],"paper":[2],"we":[3],"propose":[4],"a":[5,19,31,53,78,117,160],"hierarchical":[6,139],"controller":[7,29,46,140],"for":[8,24,109],"autonomous":[9],"racing":[10,131],"where":[11],"the":[12,35,39,48,71,74,83,90,96,110,114,134,147,152,155],"same":[13],"vehicle":[14,124],"model":[15,42],"is":[16,67,104],"used":[17],"in":[18,82,89,125,146],"two":[20,75,128],"level":[21,93],"optimization":[22,92],"framework":[23],"motion":[25],"planning.":[26],"The":[27,65,123],"high-level":[28,84],"computes":[30],"trajectory":[32,50,56],"that":[33,95],"minimizes":[34],"lap":[36,148],"time,":[37],"and":[38,60,164],"low-level":[40],"nonlinear":[41],"predictive":[43],"path":[44],"following":[45],"tracks":[47],"computed":[49,54,81],"online.":[51],"Following":[52],"optimal":[55],"avoids":[57],"online":[58],"planning":[59],"enables":[61],"fast":[62],"computational":[63],"times.":[64],"efficiency":[66],"further":[68],"enhanced":[69],"by":[70],"coupling":[72],"of":[73,113,144,154],"levels":[76],"through":[77],"terminal":[79],"constraint,":[80],"controller.":[85],"Including":[86],"constraint":[88],"real-time":[91],"ensures":[94],"prediction":[97],"horizon":[98],"can":[99],"be":[100],"shortened,":[101],"while":[102],"safety":[103],"guaranteed.":[105],"This":[106],"proves":[107],"crucial":[108],"experimental":[111],"validation":[112],"approach":[115],"on":[116],"full":[118],"size":[119],"driverless":[120],"race":[121],"car.":[122],"question":[126],"won":[127],"international":[129],"student":[130],"competitions":[132],"using":[133,159],"proposed":[135],"framework;":[136],"moreover,":[137],"our":[138],"achieved":[141,158],"an":[142],"improvement":[143],"20%":[145],"time":[149],"compared":[150],"to":[151],"state":[153],"art":[156],"result":[157],"very":[161],"similar":[162],"car":[163],"track.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
