{"id":"https://openalex.org/W3173661031","doi":"https://doi.org/10.1109/itsc48978.2021.9564975","title":"Gaussian Process-based Model Predictive Controller for Connected Vehicles with Uncertain Wireless Channel","display_name":"Gaussian Process-based Model Predictive Controller for Connected Vehicles with Uncertain Wireless Channel","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3173661031","doi":"https://doi.org/10.1109/itsc48978.2021.9564975","mag":"3173661031"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564975","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2106.12366","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083333299","display_name":"Hassan Jafarzadeh","orcid":"https://orcid.org/0000-0001-6946-9606"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hassan Jafarzadeh","raw_affiliation_strings":["University of Virginia, Charlottesville, VA, USA","UNIVERSITY OF VIRGINIA;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"UNIVERSITY OF VIRGINIA;","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113457201","display_name":"Cody Fleming","orcid":null},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cody Fleming","raw_affiliation_strings":["Faculty of Mechanical Engineering, Iowa State University, 2529 Union Dr Ames, IA, USA","Iowa State University\u2028"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Iowa State University, 2529 Union Dr Ames, IA, USA","institution_ids":["https://openalex.org/I173911158"]},{"raw_affiliation_string":"Iowa State University\u2028","institution_ids":["https://openalex.org/I173911158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06939206,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3515","last_page":"3520"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9980999827384949,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9980999827384949,"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/T11236","display_name":"Control Systems and Identification","score":0.9912999868392944,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.986299991607666,"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/platoon","display_name":"Platoon","score":0.6880096197128296},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.675758957862854},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6516653299331665},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.6491923332214355},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.617451548576355},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.6146831512451172},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5908622145652771},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.47761270403862},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45429956912994385},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.41803181171417236},{"id":"https://openalex.org/keywords/wireless-network","display_name":"Wireless network","score":0.41620633006095886},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3409532904624939},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3409331440925598},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15365999937057495},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1531592607498169},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15239909291267395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1489885151386261},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12782227993011475}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.6880096197128296},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.675758957862854},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6516653299331665},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.6491923332214355},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.617451548576355},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.6146831512451172},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5908622145652771},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.47761270403862},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45429956912994385},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.41803181171417236},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.41620633006095886},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3409532904624939},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3409331440925598},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15365999937057495},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1531592607498169},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15239909291267395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1489885151386261},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12782227993011475},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564975","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2106.12366","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.12366","pdf_url":"https://arxiv.org/pdf/2106.12366","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3173661031","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2106.12366.pdf","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dr.lib.iastate.edu:20.500.12876/EzR26Agz","is_oa":false,"landing_page_url":"https://dr.lib.iastate.edu/handle/20.500.12876/EzR26Agz","pdf_url":null,"source":{"id":"https://openalex.org/S4377196104","display_name":"Iowa State University Digital Repository (Iowa State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173911158","host_organization_name":"Iowa State University","host_organization_lineage":["https://openalex.org/I173911158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://doi.org/10.48550/arXiv.2106.12366","raw_type":"Preprint"},{"id":"doi:10.48550/arxiv.2106.12366","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2106.12366","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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2106.12366","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2106.12366","pdf_url":"https://arxiv.org/pdf/2106.12366","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2249135009","display_name":null,"funder_award_id":"CPS- 1739333","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3173661031.pdf","grobid_xml":"https://content.openalex.org/works/W3173661031.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1520811730","https://openalex.org/W1542938076","https://openalex.org/W1587009522","https://openalex.org/W2081927768","https://openalex.org/W2098916117","https://openalex.org/W2121863487","https://openalex.org/W2139769245","https://openalex.org/W2140135625","https://openalex.org/W2158740140","https://openalex.org/W2251761828","https://openalex.org/W2480512873","https://openalex.org/W2518652281","https://openalex.org/W2529658650","https://openalex.org/W2700407638","https://openalex.org/W2749680651","https://openalex.org/W2778610932","https://openalex.org/W2897909546","https://openalex.org/W3011517233","https://openalex.org/W3105148627","https://openalex.org/W3168089122","https://openalex.org/W6629804754","https://openalex.org/W6680657880","https://openalex.org/W6680880767","https://openalex.org/W6683156334"],"related_works":["https://openalex.org/W3210555473","https://openalex.org/W3136496990","https://openalex.org/W1030728038","https://openalex.org/W2968286815","https://openalex.org/W2899737866","https://openalex.org/W3192182496","https://openalex.org/W2989655362","https://openalex.org/W2048695515","https://openalex.org/W2908482268","https://openalex.org/W3083824045","https://openalex.org/W1973564335","https://openalex.org/W3135301889","https://openalex.org/W2144886028","https://openalex.org/W1988023781","https://openalex.org/W2568478070","https://openalex.org/W2980508931","https://openalex.org/W2396317032","https://openalex.org/W2969813698","https://openalex.org/W2123078200","https://openalex.org/W30105802"],"abstract_inverted_index":{"In":[0,61,95,203],"this":[1],"paper,":[2],"we":[3,205],"present":[4,206],"a":[5,12,39,116,143,237],"data-driven":[6,219],"Model":[7,111,225],"Predictive":[8,112,226],"Controller":[9,113],"that":[10,119,146,190],"leverages":[11],"Gaussian":[13,99],"Process":[14,100],"to":[15,114,192,211],"generate":[16,115],"optimal":[17],"motion":[18,72,125],"policies":[19,73],"for":[20],"connected":[21,58],"autonomous":[22],"vehicles":[23,37,67],"in":[24,28,109,137,142,159,170,224,236],"regions":[25],"with":[26],"uncertainty":[27],"the":[29,36,49,53,57,63,66,71,75,80,88,96,102,110,123,130,134,138,148,154,162,167,171,177,180,184,194,197,213,218,230,233],"wireless":[30,81,103,135],"channel.":[31],"The":[32],"communication":[33],"channel":[34,82,104,136],"between":[35],"of":[38,56,65,74,92,133,150,166,196,216,232],"platoon":[40],"can":[41,86],"be":[42],"easily":[43],"influenced":[44],"by":[45],"numerous":[46],"factors,":[47],"e.g.":[48],"surrounding":[50],"environment,":[51],"and":[52,83,90,106,164,187,200,221],"relative":[54],"states":[55],"vehicles,":[59],"etc.":[60],"addition,":[62,204],"trajectories":[64,169],"depend":[68],"significantly":[69],"on":[70,189],"preceding":[76],"vehicle":[77],"shared":[78],"via":[79],"any":[84],"delay":[85,132],"impact":[87],"safety":[89,163],"optimality":[91,165],"its":[93],"performance.":[94],"presented":[97,234],"algorithm,":[98],"learns":[101],"model":[105,220],"is":[107],"involved":[108],"control":[117],"sequence":[118],"not":[120],"only":[121],"minimizes":[122,129],"conventional":[124],"costs,":[126],"but":[127],"also":[128],"estimated":[131],"future.":[139,172],"This":[140],"results":[141],"farsighted":[144],"controller":[145],"maximizes":[147],"amount":[149],"transferred":[151],"information":[152],"beyond":[153],"controller's":[155],"time":[156,214],"horizon,":[157],"which":[158],"turn":[160],"guarantees":[161],"generated":[168],"To":[173],"decrease":[174,212],"computational":[175],"cost,":[176],"algorithm":[178,235],"finds":[179],"reachable":[181],"set":[182],"from":[183],"current":[185],"state":[186],"focuses":[188],"region":[191],"minimize":[193],"size":[195],"kernel":[198],"matrix":[199],"related":[201],"calculations.":[202],"an":[207],"efficient":[208],"recursive":[209],"approach":[210],"complexity":[215],"developing":[217],"involving":[222],"it":[223],"Control.":[227],"We":[228],"demonstrate":[229],"capability":[231],"simulated":[238],"scenario.":[239]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}