{"id":"https://openalex.org/W4308080353","doi":"https://doi.org/10.1109/itsc55140.2022.9922114","title":"Minimum-Violation Velocity Planning with Temporal Logic Constraints","display_name":"Minimum-Violation Velocity Planning with Temporal Logic Constraints","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308080353","doi":"https://doi.org/10.1109/itsc55140.2022.9922114"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922114","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://mediatum.ub.tum.de/1689688","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053274644","display_name":"Patrick Halder","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I254181534","display_name":"ZF Friedrichshafen (Germany)","ror":"https://ror.org/021wbbm64","country_code":"DE","type":"company","lineage":["https://openalex.org/I254181534"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Patrick Halder","raw_affiliation_strings":["ZF Friedrichshafen AG,Friedrichshafen,Germany,88046","Department of Informatics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"ZF Friedrichshafen AG,Friedrichshafen,Germany,88046","institution_ids":["https://openalex.org/I254181534"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Garching,Germany,85748"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053274644"],"corresponding_institution_ids":["https://openalex.org/I254181534","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.4797,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73278198,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2520","last_page":"2527"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9884999990463257,"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/planner","display_name":"Planner","score":0.8686515092849731},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.7066580057144165},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6979970335960388},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6223793029785156},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6193267107009888},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.5985023975372314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5501363277435303},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45040661096572876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3964519500732422},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.336056113243103},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.26653289794921875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25891149044036865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22629356384277344},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09341982007026672},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.07817184925079346}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8686515092849731},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.7066580057144165},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6979970335960388},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6223793029785156},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6193267107009888},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.5985023975372314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5501363277435303},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45040661096572876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3964519500732422},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.336056113243103},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.26653289794921875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25891149044036865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22629356384277344},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09341982007026672},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.07817184925079346},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922114","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:mediatum.ub.tum.de:node/1689688","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1689688","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1689688","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1689688","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1547304883","https://openalex.org/W1655990431","https://openalex.org/W1969483458","https://openalex.org/W1997188340","https://openalex.org/W2013601942","https://openalex.org/W2089709927","https://openalex.org/W2155327357","https://openalex.org/W2182989809","https://openalex.org/W2343568200","https://openalex.org/W2785700716","https://openalex.org/W2894133236","https://openalex.org/W2903362876","https://openalex.org/W2911759350","https://openalex.org/W2952377249","https://openalex.org/W2968120782","https://openalex.org/W2972399436","https://openalex.org/W3092024846","https://openalex.org/W3095199503","https://openalex.org/W3100800867","https://openalex.org/W3112522408","https://openalex.org/W3114470638","https://openalex.org/W3145799606","https://openalex.org/W3155735978","https://openalex.org/W3163290297","https://openalex.org/W3185746472","https://openalex.org/W3186243269","https://openalex.org/W3195336386","https://openalex.org/W4246219036","https://openalex.org/W4247274889","https://openalex.org/W4285813063","https://openalex.org/W6662381374","https://openalex.org/W6741047369","https://openalex.org/W6742134330","https://openalex.org/W6754096966","https://openalex.org/W6757802204"],"related_works":["https://openalex.org/W4379115841","https://openalex.org/W2083794993","https://openalex.org/W1511772879","https://openalex.org/W4394660363","https://openalex.org/W2186315912","https://openalex.org/W2248125223","https://openalex.org/W2588591308","https://openalex.org/W2127898439","https://openalex.org/W3082894236","https://openalex.org/W3195664246"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"for":[2,36,68],"autonomous":[3,70],"agents":[4],"requires":[5],"compliance":[6],"with":[7],"a":[8,38,64,104],"variety":[9],"of":[10,27,41,54,108],"constraints.":[11],"However,":[12],"in":[13,81,111],"some":[14],"situations,":[15,33],"all":[16],"constraints":[17,49,76,86,109],"cannot":[18],"be":[19],"simultaneously":[20],"satisfied,":[21],"e.g.,":[22],"due":[23],"to":[24,119],"the":[25,42,52,82,123],"misbehavior":[26],"other":[28],"traffic":[29],"participants.":[30],"In":[31,90],"such":[32],"one":[34],"strategy":[35],"guaranteeing":[37],"feasible":[39],"behavior":[40],"system":[43],"is":[44],"deliberately":[45],"ignoring":[46],"less":[47],"important":[48,56,85],"while":[50],"maintaining":[51],"satisfaction":[53],"more":[55],"ones.":[57],"We":[58,115],"address":[59],"this":[60],"problem":[61],"by":[62],"presenting":[63],"novel":[65],"velocity":[66,99],"planner":[67,100],"an":[69,94],"shuttle":[71],"that":[72,84,101,128],"violates":[73,103],"temporal":[74,113],"logic":[75],"as":[77,79],"little":[78],"possible":[80],"sense":[83],"are":[87],"violated":[88],"last.":[89],"particular,":[91],"we":[92],"provide":[93],"<tex":[95],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[96],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$A$</tex>":[97],"*-based":[98],"minimally":[102],"hierarchically":[105],"ordered":[106],"set":[107],"formalized":[110],"signal":[112],"logic.":[114],"apply":[116],"our":[117,129],"approach":[118],"challenging":[120],"scenarios":[121],"from":[122],"CommonRoad":[124],"benchmark":[125],"suite,":[126],"showing":[127],"proposed":[130],"method":[131],"yields":[132],"easily":[133],"interpretable":[134],"and":[135],"explainable":[136],"decisions.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}