{"id":"https://openalex.org/W3211232325","doi":"https://doi.org/10.1109/itsc48978.2021.9565126","title":"Multi-layer Control Architecture for Unsignalized Intersection Management via Nonlinear MPC and Deep Reinforcement Learning","display_name":"Multi-layer Control Architecture for Unsignalized Intersection Management via Nonlinear MPC and Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3211232325","doi":"https://doi.org/10.1109/itsc48978.2021.9565126","mag":"3211232325"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9565126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565126","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":"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/A5072445790","display_name":"Ahmed H. Hamouda","orcid":null},"institutions":[{"id":"https://openalex.org/I4210149432","display_name":"Multi-Robot Systems Research Group","ror":"https://ror.org/05ra8rv47","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210149432"]},{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Ahmed H. Hamouda","raw_affiliation_strings":["Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","Multi-Robot Systems (MRS) Research Group, Cairo, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, Cairo, Egypt","institution_ids":["https://openalex.org/I4210149432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014339802","display_name":"Dalia M. Mahfouz","orcid":"https://orcid.org/0000-0002-1854-1951"},"institutions":[{"id":"https://openalex.org/I4210149432","display_name":"Multi-Robot Systems Research Group","ror":"https://ror.org/05ra8rv47","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210149432"]},{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Dalia M. Mahfouz","raw_affiliation_strings":["Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","Multi-Robot Systems (MRS) Research Group, Cairo, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, Cairo, Egypt","institution_ids":["https://openalex.org/I4210149432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025295346","display_name":"Catherine M. Elias","orcid":"https://orcid.org/0000-0002-1444-9816"},"institutions":[{"id":"https://openalex.org/I4210149432","display_name":"Multi-Robot Systems Research Group","ror":"https://ror.org/05ra8rv47","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210149432"]},{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Catherine M. Elias","raw_affiliation_strings":["Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","Multi-Robot Systems (MRS) Research Group, Cairo, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, Cairo, Egypt","institution_ids":["https://openalex.org/I4210149432"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063239454","display_name":"Omar M. Shehata","orcid":"https://orcid.org/0000-0002-3604-3534"},"institutions":[{"id":"https://openalex.org/I107720978","display_name":"Ain Shams University","ror":"https://ror.org/00cb9w016","country_code":"EG","type":"education","lineage":["https://openalex.org/I107720978"]},{"id":"https://openalex.org/I4210149432","display_name":"Multi-Robot Systems Research Group","ror":"https://ror.org/05ra8rv47","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210149432"]},{"id":"https://openalex.org/I96823368","display_name":"German University in Cairo","ror":"https://ror.org/03rjt0z37","country_code":"EG","type":"education","lineage":["https://openalex.org/I96823368"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Omar M. Shehata","raw_affiliation_strings":["Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","Mechatronics Department, Faculty of Engineering, Ain Shams University, Cairo, Egypt","Multi-Robot Systems (MRS) Research Group, Cairo, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Egypt","institution_ids":["https://openalex.org/I96823368"]},{"raw_affiliation_string":"Mechatronics Department, Faculty of Engineering, Ain Shams University, Cairo, Egypt","institution_ids":["https://openalex.org/I107720978"]},{"raw_affiliation_string":"Multi-Robot Systems (MRS) Research Group, Cairo, Egypt","institution_ids":["https://openalex.org/I4210149432"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6943,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.70419709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1990","last_page":"1996"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9991999864578247,"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/T10524","display_name":"Traffic control and management","score":0.9991999864578247,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9966999888420105,"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/T11195","display_name":"Simulation Techniques and Applications","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.8943270444869995},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7706608772277832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6875492334365845},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.6329845190048218},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5851921439170837},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5213704705238342},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5035623908042908},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.49746182560920715},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46592235565185547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3968556821346283},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3470407724380493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2776091694831848},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19815358519554138},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.09971112012863159}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.8943270444869995},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7706608772277832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6875492334365845},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.6329845190048218},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5851921439170837},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5213704705238342},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5035623908042908},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.49746182560920715},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46592235565185547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3968556821346283},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3470407724380493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2776091694831848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19815358519554138},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.09971112012863159},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9565126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9565126","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W132419959","https://openalex.org/W1485881041","https://openalex.org/W2019710087","https://openalex.org/W2091537908","https://openalex.org/W2173248099","https://openalex.org/W2772589676","https://openalex.org/W2787938642","https://openalex.org/W2842089854","https://openalex.org/W2897661175","https://openalex.org/W2897752552","https://openalex.org/W2904263972","https://openalex.org/W2945137235","https://openalex.org/W2962867954","https://openalex.org/W2963407617","https://openalex.org/W2963864421","https://openalex.org/W2963923407","https://openalex.org/W2963950272","https://openalex.org/W2978148161","https://openalex.org/W2989730386","https://openalex.org/W3013082658","https://openalex.org/W3102373488","https://openalex.org/W3127561923","https://openalex.org/W4295719664","https://openalex.org/W4299802797","https://openalex.org/W6684921986","https://openalex.org/W6738796088","https://openalex.org/W6745935785","https://openalex.org/W6748839928","https://openalex.org/W6768731700"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W4306904969","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4380318855"],"abstract_inverted_index":{"In":[0,64],"this":[1],"study,":[2],"a":[3,25,33,52,74,119,148],"multi-layer":[4],"control":[5],"architecture":[6,14],"for":[7,77],"unsignalized":[8,83],"intersection":[9,84,122,145],"management":[10],"is":[11,15,49,89,114],"proposed.":[12],"The":[13,20,41,87,111],"composed":[16],"of":[17,151],"two":[18],"layers.":[19],"low-level":[21],"layer":[22,43,72],"deals":[23],"with":[24,147],"single":[26],"decoupled":[27],"vehicle":[28,79,95],"model":[29],"controlled":[30,50],"depending":[31],"on":[32],"dynamical-based":[34],"Nonlinear":[35],"Model":[36],"Predictive":[37],"Control":[38],"(NMPC)":[39],"algorithm.":[40,63],"high-level":[42,69],"holds":[44],"the":[45,65,68,82,97,103,133,139,144],"decision-making":[46],"module":[47],"which":[48],"via":[51],"centralized-trained/decentralized-executed":[53],"Multi":[54],"Agent":[55],"Twin":[56],"Delayed":[57],"Deep":[58],"Deterministic":[59],"Policy":[60],"Gradient":[61],"(MATD3)":[62],"proposed":[66,112],"architecture,":[67],"decision":[70],"making":[71],"generates":[73],"reference":[75],"velocity":[76],"each":[78,94],"to":[80,91,107,137,142],"pass":[81],"without":[85],"collisions.":[86],"NMPC":[88],"utilized":[90],"ensure":[92],"that":[93],"follows":[96],"provided":[98],"trajectory,":[99],"taking":[100],"into":[101],"account":[102],"vehicle's":[104],"acceleration":[105],"profile":[106],"attain":[108],"passengers'":[109],"comfort.":[110],"approach":[113],"trained":[115],"and":[116],"executed":[117],"in":[118],"custom-built":[120],"multi-agent":[121],"environment":[123],"simulated":[124],"using":[125],"CARLA":[126],"simulator.":[127],"Results":[128],"indicate":[129],"effective":[130],"training":[131],"as":[132],"MATD3":[134],"was":[135],"able":[136],"encounter":[138],"suitable":[140],"policy":[141],"avoid":[143],"collisions":[146],"success":[149],"percentage":[150],"100%.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}