{"id":"https://openalex.org/W4416750147","doi":"https://doi.org/10.1109/iros60139.2025.11247102","title":"M-Predictive Spliner: Enabling Spatiotemporal Multi-Opponent Overtaking for Autonomous Racing","display_name":"M-Predictive Spliner: Enabling Spatiotemporal Multi-Opponent Overtaking for Autonomous Racing","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750147","doi":"https://doi.org/10.1109/iros60139.2025.11247102"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247102","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247102","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5088420124","display_name":"Nadine Imholz","orcid":null},"institutions":[{"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":true,"raw_author_name":"Nadine Imholz","raw_affiliation_strings":["Center for Project-Based Learning,D-ITET, ETH,Zurich"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning,D-ITET, ETH,Zurich","institution_ids":["https://openalex.org/I4210090941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112090426","display_name":"Maurice Brunner","orcid":null},"institutions":[{"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":"Maurice Brunner","raw_affiliation_strings":["Center for Project-Based Learning,D-ITET, ETH,Zurich"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning,D-ITET, ETH,Zurich","institution_ids":["https://openalex.org/I4210090941"]}]},{"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/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":["Center for Project-Based Learning,D-ITET, ETH,Zurich"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning,D-ITET, ETH,Zurich","institution_ids":["https://openalex.org/I4210090941"]}]},{"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/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":["Center for Project-Based Learning,D-ITET, ETH,Zurich"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning,D-ITET, ETH,Zurich","institution_ids":["https://openalex.org/I4210090941"]}]},{"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/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":["Center for Project-Based Learning,D-ITET, ETH,Zurich"],"affiliations":[{"raw_affiliation_string":"Center for Project-Based Learning,D-ITET, ETH,Zurich","institution_ids":["https://openalex.org/I4210090941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5088420124"],"corresponding_institution_ids":["https://openalex.org/I4210090941"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42777604,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16495","last_page":"16500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.7268999814987183,"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":0.7268999814987183,"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":0.05389999970793724,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.02410000003874302,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/overtaking","display_name":"Overtaking","score":0.942799985408783},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5863000154495239},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5835999846458435},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.45559999346733093},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.447299987077713},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4447999894618988},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.3560999929904938}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.942799985408783},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5863000154495239},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5835999846458435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040000081062317},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.45559999346733093},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4447999894618988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42640000581741333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39419999718666077},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3626999855041504},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C30905978","wikidata":"https://www.wikidata.org/wiki/Q815598","display_name":"Metering mode","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25209999084472656},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247102","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247102","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W2041448245","https://openalex.org/W2107338474","https://openalex.org/W2154889144","https://openalex.org/W2165737454","https://openalex.org/W2252355370","https://openalex.org/W2989707382","https://openalex.org/W4225642194","https://openalex.org/W4285228542","https://openalex.org/W4289865992","https://openalex.org/W4389667294","https://openalex.org/W4392971551","https://openalex.org/W4400721625","https://openalex.org/W4401808585","https://openalex.org/W4405520727","https://openalex.org/W4416748782"],"related_works":[],"abstract_inverted_index":{"Unrestricted":[0],"multi-agent":[1],"racing":[2,42,105],"presents":[3],"a":[4,14,53,100],"significant":[5],"research":[6],"challenge,":[7],"requiring":[8],"decision-making":[9,28],"at":[10,124],"the":[11,27,45,90,125,129],"limits":[12],"of":[13,112],"robot's":[15],"operational":[16],"capabilities.":[17],"While":[18],"previous":[19,130],"approaches":[20],"have":[21],"either":[22],"ignored":[23],"spatiotemporal":[24],"information":[25,87],"in":[26,122],"process":[29],"or":[30],"been":[31,96],"restricted":[32],"to":[33,59,88,114],"single-opponent":[34],"scenarios,":[35],"this":[36],"work":[37],"enables":[38],"arbitrary":[39],"multi-opponent":[40,57],"head-to-head":[41],"while":[43],"considering":[44],"opponents'":[46],"future":[47],"intent.":[48],"The":[49],"proposed":[50],"method":[51],"employs":[52],"Kalman":[54],"Filter":[55],"(KF)-based":[56],"tracker":[58],"effectively":[60],"perform":[61],"opponent":[62,83],"Re-Identification":[63],"(reID)":[64],"by":[65],"associating":[66],"them":[67],"across":[68],"observations.":[69],"Simultaneously,":[70],"spatial":[71],"and":[72,116],"velocity":[73],"Gaussian":[74],"Process":[75],"Regression":[76],"(GPR)":[77],"is":[78],"performed":[79],"on":[80,99],"all":[81],"observed":[82],"trajectories,":[84],"providing":[85],"predictive":[86],"compute":[89],"overtaking":[91,109],"maneuvers.":[92],"This":[93],"approach":[94],"has":[95],"experimentally":[97],"validated":[98],"physical":[101],"1:10":[102],"scale":[103],"autonomous":[104,140],"car":[106],"achieving":[107],"an":[108,118],"success":[110],"rate":[111],"up":[113],"91.65%":[115],"demonstrating":[117],"average":[119],"10.13%-point":[120],"improvement":[121],"safety":[123],"same":[126],"speed":[127],"as":[128],"State-of-the-Art":[131],"(SotA).":[132],"These":[133],"results":[134],"highlight":[135],"its":[136],"potential":[137],"for":[138],"high-performance":[139],"racing.":[141]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}