{"id":"https://openalex.org/W4306399965","doi":"https://doi.org/10.1109/itsc55140.2022.9921898","title":"Minimal Injury Risk Motion Planning Using Active Mitigation and Sampling Model Predictive Control","display_name":"Minimal Injury Risk Motion Planning Using Active Mitigation and Sampling Model Predictive Control","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4306399965","doi":"https://doi.org/10.1109/itsc55140.2022.9921898"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9921898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921898","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03812987","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076341834","display_name":"Luiz Alberto Serafim Guardini","orcid":null},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Luiz Alberto Serafim Guardini","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000","Centre INRIA d'Universite Cote d' Azur, ACENTAURI Team, Valbonne","Renault S.A.S, Guyancourt, France"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I899635006"]},{"raw_affiliation_string":"Centre INRIA d'Universite Cote d' Azur, ACENTAURI Team, Valbonne","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"Renault S.A.S, Guyancourt, France","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070587077","display_name":"Anne Spalanzani","orcid":"https://orcid.org/0000-0003-4813-4940"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anne Spalanzani","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Martinet","raw_affiliation_strings":["Centre INRIA d&#x2018;Universite Cote d&#x2019; Azur, ACENTAURI Team,Valbonne,06902"],"affiliations":[{"raw_affiliation_string":"Centre INRIA d&#x2018;Universite Cote d&#x2019; Azur, ACENTAURI Team,Valbonne,06902","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109557660","display_name":"Christian Laugier","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Laugier","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057514162","display_name":"Thomas Genevois","orcid":null},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thomas Genevois","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA, Chroma Team,Grenoble,France,38000","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081307062","display_name":"Anh-Lam Do","orcid":"https://orcid.org/0000-0003-2745-0864"},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anh-Lam Do","raw_affiliation_strings":["Renault S.A.S,Guyancourt,France,78288"],"affiliations":[{"raw_affiliation_string":"Renault S.A.S,Guyancourt,France,78288","institution_ids":["https://openalex.org/I1301102746"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5076341834"],"corresponding_institution_ids":["https://openalex.org/I1301102746","https://openalex.org/I1326498283","https://openalex.org/I899635006"],"apc_list":null,"apc_paid":null,"fwci":0.6491,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62195518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"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":0.9983999729156494,"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":0.9966999888420105,"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/T10524","display_name":"Traffic control and management","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6594278216362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6242179274559021},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5789806246757507},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5741056203842163},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5080451965332031},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4752335846424103},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42329108715057373},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3706551194190979},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3496585190296173},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3327217102050781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3209584951400757},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2734057307243347},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2652525305747986},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09627711772918701}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6594278216362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6242179274559021},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5789806246757507},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5741056203842163},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5080451965332031},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4752335846424103},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42329108715057373},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3706551194190979},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3496585190296173},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3327217102050781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3209584951400757},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2734057307243347},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2652525305747986},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09627711772918701},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9921898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9921898","pdf_url":null,"source":{"id":"https://openalex.org/S4363607737","display_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03812987v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03812987","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ITSC 2022 - 25th IEEE Intelligent Transportation Systems Conference, Oct 2022, Macao, China. pp.1-6","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03812987v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03812987","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ITSC 2022 - 25th IEEE Intelligent Transportation Systems Conference, Oct 2022, Macao, China. pp.1-6","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W2060165215","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Collision":[0],"mitigation":[1,138],"is":[2,24,66,93,176],"an":[3],"important":[4],"element":[5],"in":[6,50,71,101,149,161],"motion":[7,43],"planning.":[8],"Although":[9],"Advanced":[10],"Driver-Assistance":[11],"Systems":[12],"(ADAS)":[13],"have":[14],"a":[15,26,30,41,72,96],"rich":[16],"number":[17],"of":[18,87,122,154],"functionalities,":[19],"they":[20],"lack":[21],"interchangeability.":[22],"There":[23],"still":[25],"gap":[27],"on":[28,108,152],"finding":[29,158],"way":[31],"to":[32,46,68,89,98,103,133],"evaluate":[33],"the":[34,99,109,120,143,155],"best":[35],"decision":[36],"globally.":[37],"This":[38],"paper":[39],"presents":[40],"novel":[42],"planning":[44],"framework":[45],"generate":[47],"emergency":[48],"maneuvers":[49],"complex":[51,162],"and":[52,129,137,164],"risky":[53],"scenarios":[54,163],"using":[55],"active":[56],"mitigation.":[57],"The":[58],"classical":[59],"Model":[60],"Predictive":[61],"Path":[62],"Integral":[63],"(MPPI)":[64],"algorithm":[65,145],"improved":[67],"be":[69],"used":[70,94],"probabilistic":[73],"dynamic":[74],"cost":[75,82],"map":[76,83],"under":[77],"limited":[78],"perception":[79],"range.":[80],"A":[81],"with":[84],"global":[85,110,171],"probability":[86],"injury":[88,172],"all":[90,114],"road":[91,115],"users":[92],"as":[95],"constraint":[97],"problem":[100],"order":[102],"compute":[104,165],"target":[105,167],"selection":[106,168],"based":[107],"minimum":[111],"risk":[112,173],"considering":[113],"users.":[116],"Real":[117],"experiments":[118],"introduce":[119],"use":[121],"augmented":[123],"sensor":[124,131],"data":[125,132],"by":[126,157],"merging":[127],"simulation":[128],"real":[130,150],"safely":[134],"produce":[135],"collision":[136,175],"experiments.":[139],"Results":[140],"show":[141],"that":[142,169],"proposed":[144],"can":[146],"perform":[147],"correctly":[148],"time":[151],"board":[153],"vehicle,":[156],"collision-free":[159],"trajectories":[160],"viable":[166],"minimizes":[170],"when":[174],"inevitable.":[177]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
