{"id":"https://openalex.org/W4308068350","doi":"https://doi.org/10.1109/itsc55140.2022.9922239","title":"Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds","display_name":"Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds","publication_year":2022,"publication_date":"2022-10-08","ids":{"openalex":"https://openalex.org/W4308068350","doi":"https://doi.org/10.1109/itsc55140.2022.9922239"},"language":"en","primary_location":{"id":"doi:10.1109/itsc55140.2022.9922239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922239","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080008583","display_name":"Ayoub Raji","orcid":"https://orcid.org/0000-0003-4188-8854"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]},{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Ayoub Raji","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy","University of Modena and Reggio Emilia, Italy","University of Parma, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"University of Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048742998","display_name":"Alexander Liniger","orcid":"https://orcid.org/0000-0002-7858-7900"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Liniger","raw_affiliation_strings":["Computer Vision Lab, ETH Zurich,Switzerland","ETH Zurich, Computer Vision Lab, Switzerland"],"affiliations":[{"raw_affiliation_string":"Computer Vision Lab, ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Zurich, Computer Vision Lab, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060987606","display_name":"Andrea Giove","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Giove","raw_affiliation_strings":["University of Pisa,Italy","University of Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"University of Pisa,Italy","institution_ids":["https://openalex.org/I108290504"]},{"raw_affiliation_string":"University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016192597","display_name":"A. Toschi","orcid":"https://orcid.org/0000-0001-5669-3377"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Toschi","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy","University of Modena and Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043606698","display_name":"Nicola Musiu","orcid":null},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Musiu","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy","University of Modena and Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061692581","display_name":"Daniele Morra","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Morra","raw_affiliation_strings":["University of Pisa,Italy","University of Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"University of Pisa,Italy","institution_ids":["https://openalex.org/I108290504"]},{"raw_affiliation_string":"University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064978609","display_name":"Micaela Verucchi","orcid":null},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Micaela Verucchi","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy","University of Modena and Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006094010","display_name":"Danilo Caporale","orcid":"https://orcid.org/0000-0003-2665-3950"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210087059","display_name":"Technology Innovation Institute","ror":"https://ror.org/001kv2y39","country_code":"AE","type":"facility","lineage":["https://openalex.org/I4210087059"]}],"countries":["AE","US"],"is_corresponding":false,"raw_author_name":"Danilo Caporale","raw_affiliation_strings":["Technology Innovation Institute - Autonomous Robotics Research Center"],"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute - Autonomous Robotics Research Center","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4210087059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106522626","display_name":"Marko Bertogna","orcid":"https://orcid.org/0000-0003-2115-4853"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marko Bertogna","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy","University of Modena and Reggio Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5080008583"],"corresponding_institution_ids":["https://openalex.org/I122346577","https://openalex.org/I124601658"],"apc_list":null,"apc_paid":null,"fwci":6.8825,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98483871,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2775","last_page":"2782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994999766349792,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9973999857902527,"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/overtaking","display_name":"Overtaking","score":0.7235513925552368},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5936375856399536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5605336427688599},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5135657787322998},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.4428042769432068},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4351655840873718},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.43299925327301025},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.417474627494812},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4134595990180969},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4111917018890381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3723398447036743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2927566170692444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26559150218963623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23496076464653015},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.08991739153862}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.7235513925552368},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5936375856399536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5605336427688599},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5135657787322998},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.4428042769432068},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4351655840873718},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.43299925327301025},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.417474627494812},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4134595990180969},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4111917018890381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3723398447036743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2927566170692444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26559150218963623},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23496076464653015},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.08991739153862},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc55140.2022.9922239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc55140.2022.9922239","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1918816242","https://openalex.org/W2019799050","https://openalex.org/W2107338474","https://openalex.org/W2120179083","https://openalex.org/W2123871098","https://openalex.org/W2312397602","https://openalex.org/W2585477135","https://openalex.org/W2735025962","https://openalex.org/W2759309029","https://openalex.org/W2772481138","https://openalex.org/W2802565585","https://openalex.org/W2806163172","https://openalex.org/W2938706055","https://openalex.org/W2989707382","https://openalex.org/W3036383710","https://openalex.org/W3043047027","https://openalex.org/W3103037319","https://openalex.org/W3105558219","https://openalex.org/W3122447121","https://openalex.org/W3132760324","https://openalex.org/W3135167202","https://openalex.org/W3135363299","https://openalex.org/W3155272911","https://openalex.org/W3166451268","https://openalex.org/W3204990527","https://openalex.org/W4285228542","https://openalex.org/W4293584745","https://openalex.org/W6634651595","https://openalex.org/W6796243233"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W3004478217","https://openalex.org/W3208192858","https://openalex.org/W1998625354","https://openalex.org/W2102544652","https://openalex.org/W2618142536"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,129,134,141,157,177],"multi-layer":[4],"motion":[5,124],"planning":[6,125],"and":[7,21,33,44,53,74,99,120,150,168,181],"control":[8],"architecture":[9],"for":[10],"autonomous":[11],"racing,":[12],"capable":[13],"of":[14,47,62,101,110,112,128,136],"avoiding":[15],"static":[16],"obstacles,":[17],"performing":[18],"active":[19],"overtakes,":[20],"reaching":[22],"velocities":[23],"above":[24],"75":[25],"m/s.":[26],"The":[27,68,95,123,144,170],"used":[28],"offline":[29],"global":[30],"trajectory":[31],"generation":[32],"the":[34,48,51,63,83,102,108,113,137,147],"online":[35],"model":[36,71],"predictive":[37],"controller":[38,103],"are":[39,56,93,104],"highly":[40],"based":[41],"on":[42,156,176],"optimization":[43],"dynamic":[45],"models":[46],"vehicle,":[49],"where":[50],"tires":[52],"camber":[54],"effects":[55],"represented":[57],"in":[58],"an":[59,117],"extended":[60],"version":[61],"basic":[64],"Pacejka":[65],"Magic":[66],"Formula.":[67],"proposed":[69,171],"single-track":[70],"is":[72],"identified":[73],"validated":[75],"using":[76],"multi-body":[77],"motorsport":[78],"libraries":[79],"which":[80,132],"allow":[81],"simulating":[82],"vehicle":[84],"dynamics":[85],"properly,":[86],"especially":[87],"useful":[88],"when":[89],"real":[90],"experimental":[91],"data":[92],"missing.":[94],"fundamental":[96],"regularization":[97],"terms":[98],"constraints":[100],"tuned":[105],"to":[106,153,161,191],"reduce":[107],"rate":[109],"change":[111],"inputs":[114],"while":[115],"assuring":[116],"acceptable":[118],"velocity":[119,151],"path":[121,149],"tracking.":[122],"strategy":[126],"consists":[127],"Fren\u00e9t-Frame-based":[130],"planner":[131,145],"considers":[133],"forecast":[135],"opponent":[138],"produced":[139],"by":[140],"Kalman":[142],"filter.":[143],"chooses":[146],"collision-free":[148],"profile":[152],"be":[154],"tracked":[155],"3":[158],"seconds":[159],"horizon":[160],"realize":[162],"different":[163],"goals":[164],"such":[165],"as":[166],"following":[167],"overtaking.":[169],"solution":[172],"has":[173],"been":[174],"applied":[175],"Dallara":[178],"AV-21":[179],"racecar":[180],"tested":[182],"at":[183],"oval":[184],"race":[185],"tracks":[186],"achieving":[187],"lateral":[188],"accelerations":[189],"up":[190],"25":[192],"m/s":[193],"<sup":[194],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[195],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[196],",":[197]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2022-11-08T00:00:00"}