{"id":"https://openalex.org/W4405785335","doi":"https://doi.org/10.1109/iros58592.2024.10802822","title":"Model Predictive Control for Frenet-Cartesian Trajectory Tracking of a Tricycle Kinematic Automated Guided Vehicle","display_name":"Model Predictive Control for Frenet-Cartesian Trajectory Tracking of a Tricycle Kinematic Automated Guided Vehicle","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785335","doi":"https://doi.org/10.1109/iros58592.2024.10802822"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5032945394","display_name":"Akash Subash","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210153877","display_name":"Microsystems (United Kingdom)","ror":"https://ror.org/04pvywd96","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153877"]}],"countries":["DE","GB"],"is_corresponding":true,"raw_author_name":"Akash Subash","raw_affiliation_strings":["University of Freiburg,Department of Microsystems Engineering"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Microsystems Engineering","institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210153877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064531968","display_name":"Daniel Kloeser","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Kloeser","raw_affiliation_strings":["Ek Robotics GmbH,Germany"],"affiliations":[{"raw_affiliation_string":"Ek Robotics GmbH,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007315476","display_name":"Jonathan Frey","orcid":"https://orcid.org/0000-0003-2771-4209"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210153877","display_name":"Microsystems (United Kingdom)","ror":"https://ror.org/04pvywd96","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153877"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Jonathan Frey","raw_affiliation_strings":["University of Freiburg,Department of Microsystems Engineering"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Microsystems Engineering","institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210153877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089473090","display_name":"Rudolf Reiter","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210153877","display_name":"Microsystems (United Kingdom)","ror":"https://ror.org/04pvywd96","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153877"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Rudolf Reiter","raw_affiliation_strings":["University of Freiburg,Department of Microsystems Engineering"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Microsystems Engineering","institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210153877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210153877","display_name":"Microsystems (United Kingdom)","ror":"https://ror.org/04pvywd96","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153877"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["University of Freiburg,Department of Microsystems Engineering"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Microsystems Engineering","institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210153877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052280980","display_name":"Karsten Bohlmann","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Karsten Bohlmann","raw_affiliation_strings":["Ek Robotics GmbH,Germany"],"affiliations":[{"raw_affiliation_string":"Ek Robotics GmbH,Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032945394"],"corresponding_institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210153877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26807204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11948","last_page":"11953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9957000017166138,"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":0.9957000017166138,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9871000051498413,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9463000297546387,"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/kinematics","display_name":"Kinematics","score":0.8632876873016357},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.8281439542770386},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.803869366645813},{"id":"https://openalex.org/keywords/frenet\u2013serret-formulas","display_name":"Frenet\u2013Serret formulas","score":0.8027710914611816},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7301134467124939},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5272889733314514},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5178120732307434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5092417001724243},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4810217022895813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39188992977142334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2957645654678345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.219812273979187},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17701184749603271},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0948784351348877},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08676588535308838},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07611235976219177}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8632876873016357},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.8281439542770386},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.803869366645813},{"id":"https://openalex.org/C162546045","wikidata":"https://www.wikidata.org/wiki/Q947922","display_name":"Frenet\u2013Serret formulas","level":3,"score":0.8027710914611816},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7301134467124939},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5272889733314514},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5178120732307434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5092417001724243},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4810217022895813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39188992977142334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2957645654678345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.219812273979187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17701184749603271},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0948784351348877},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08676588535308838},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07611235976219177},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1812401218","https://openalex.org/W2027365137","https://openalex.org/W2062573767","https://openalex.org/W2150292516","https://openalex.org/W2523760000","https://openalex.org/W2541170172","https://openalex.org/W2549200707","https://openalex.org/W2587321091","https://openalex.org/W2770213923","https://openalex.org/W2952124005","https://openalex.org/W2963105220","https://openalex.org/W3132876459","https://openalex.org/W3155272911","https://openalex.org/W3155794842","https://openalex.org/W3207305612","https://openalex.org/W4205287281","https://openalex.org/W4288064593","https://openalex.org/W4316669270","https://openalex.org/W4380742280","https://openalex.org/W6992833760"],"related_works":["https://openalex.org/W2609788161","https://openalex.org/W2890994448","https://openalex.org/W4312766700","https://openalex.org/W1967787111","https://openalex.org/W2998181671","https://openalex.org/W4380742280","https://openalex.org/W2391000165","https://openalex.org/W2801692647","https://openalex.org/W4388184739","https://openalex.org/W4313197548"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"an":[3],"optimal":[4],"control":[5],"scheme":[6,59],"for":[7,50],"a":[8,19,75,79],"trajectory-tracking":[9],"Automated":[10],"Guided":[11],"Vehicle":[12],"considering":[13],"motion":[14],"and":[15,65,73],"collision":[16],"constraints":[17,29],"in":[18,30,71],"warehouse":[20],"environment.":[21],"We":[22],"outline":[23],"how":[24],"the":[25,31,41,45],"simpler":[26],"obstacle":[27],"avoidance":[28],"Cartesian":[32],"Coordinate":[33,47],"Frame":[34,48],"(CCF)":[35],"can":[36],"be":[37],"retained,":[38],"while":[39],"projecting":[40],"tricycle":[42],"kinematics":[43],"to":[44],"Frenet":[46],"(FCF)":[49],"track":[51],"progress.":[52],"The":[53],"Nonlinear":[54],"Model":[55],"Predictive":[56],"Control":[57],"(NMPC)":[58],"is":[60,69],"subsequently":[61],"implemented":[62],"using":[63],"acados":[64],"its":[66],"real-time":[67],"feasibility":[68],"demonstrated":[70],"simulation":[72],"aboard":[74],"test":[76],"vehicle":[77],"at":[78],"warehouse.":[80]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}