{"id":"https://openalex.org/W4408696394","doi":"https://doi.org/10.1109/itsc58415.2024.10919884","title":"Motion Planning Under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control","display_name":"Motion Planning Under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408696394","doi":"https://doi.org/10.1109/itsc58415.2024.10919884"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10919884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th 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/A5114159090","display_name":"Mohamed-Khalil Bouzidi","orcid":"https://orcid.org/0009-0009-9734-3133"},"institutions":[{"id":"https://openalex.org/I75951250","display_name":"Freie Universit\u00e4t Berlin","ror":"https://ror.org/046ak2485","country_code":"DE","type":"education","lineage":["https://openalex.org/I75951250"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mohamed-Khalil Bouzidi","raw_affiliation_strings":["Free Universitity of Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Free Universitity of Berlin,Germany","institution_ids":["https://openalex.org/I75951250"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070805758","display_name":"Bojan Deraji\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bojan Derajic","raw_affiliation_strings":["Technical Universitity of Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical Universitity of Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007762628","display_name":"Daniel Goehring","orcid":"https://orcid.org/0000-0001-7819-7163"},"institutions":[{"id":"https://openalex.org/I75951250","display_name":"Freie Universit\u00e4t Berlin","ror":"https://ror.org/046ak2485","country_code":"DE","type":"education","lineage":["https://openalex.org/I75951250"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Goehring","raw_affiliation_strings":["Free Universitity of Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Free Universitity of Berlin,Germany","institution_ids":["https://openalex.org/I75951250"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103563252","display_name":"Joerg Reichardt","orcid":null},"institutions":[{"id":"https://openalex.org/I147869694","display_name":"Continental (Germany)","ror":"https://ror.org/0359s0245","country_code":"DE","type":"company","lineage":["https://openalex.org/I147869694"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joerg Reichardt","raw_affiliation_strings":["Continental AG"],"affiliations":[{"raw_affiliation_string":"Continental AG","institution_ids":["https://openalex.org/I147869694"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114159090"],"corresponding_institution_ids":["https://openalex.org/I75951250"],"apc_list":null,"apc_paid":null,"fwci":1.0729,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.79340053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2592","last_page":"2598"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9387000203132629,"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":0.9387000203132629,"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/T11801","display_name":"Reservoir Engineering and Simulation Methods","score":0.9301000237464905,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/model-predictive-control","display_name":"Model predictive control","score":0.7741219997406006},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.7346935272216797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6681363582611084},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.522165060043335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49472305178642273},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49155887961387634},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4157916307449341}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7741219997406006},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7346935272216797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6681363582611084},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.522165060043335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49472305178642273},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49155887961387634},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4157916307449341},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc58415.2024.10919884","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10919884","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2517688734","https://openalex.org/W2606978426","https://openalex.org/W2782474430","https://openalex.org/W2893731141","https://openalex.org/W2923817898","https://openalex.org/W2952762354","https://openalex.org/W2963105220","https://openalex.org/W2968044973","https://openalex.org/W3087345871","https://openalex.org/W3159022532","https://openalex.org/W3191250544","https://openalex.org/W3200913209","https://openalex.org/W4226175347","https://openalex.org/W4285813088","https://openalex.org/W4383108442","https://openalex.org/W4385325487","https://openalex.org/W4385367241","https://openalex.org/W4386076672","https://openalex.org/W6678541622","https://openalex.org/W6843475265"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2556120871"],"abstract_inverted_index":{"In":[0],"complex":[1],"traffic":[2,95],"environments,":[3],"autonomous":[4],"vehicles":[5],"face":[6],"multi-modal":[7,24],"uncertainty":[8,88],"about":[9],"other":[10],"agents'":[11],"future":[12],"behavior.":[13],"To":[14],"address":[15],"this,":[16],"recent":[17],"advancements":[18],"in":[19,94],"learning-based":[20],"motion":[21],"predictors":[22],"output":[23],"predictions.":[25,41],"We":[26],"present":[27],"our":[28,108],"novel":[29],"framework":[30,43],"that":[31,77],"leverages":[32],"Branch":[33],"Model":[34],"Predictive":[35],"Control(BMPC)":[36],"to":[37,82],"account":[38],"for":[39],"these":[40],"The":[42],"includes":[44],"an":[45,72],"online":[46],"scenario-selection":[47],"process":[48],"guided":[49],"by":[50],"topology":[51],"and":[52,97,105],"collision":[53],"risk":[54],"criteria.":[55],"This":[56],"efficiently":[57],"selects":[58],"a":[59,83],"minimal":[60],"set":[61],"of":[62],"predictions,":[63],"rendering":[64],"the":[65,79,87],"BMPC":[66],"real-time":[67],"capable.":[68],"Additionally,":[69],"we":[70],"introduce":[71],"adaptive":[73],"decision":[74],"postponing":[75],"strategy":[76],"delays":[78],"planner's":[80],"commitment":[81],"single":[84],"scenario":[85],"until":[86],"is":[89],"resolved.":[90],"Our":[91],"comprehensive":[92],"evaluations":[93],"intersection":[96],"random":[98],"highway":[99],"merging":[100],"scenarios":[101],"demonstrate":[102],"enhanced":[103],"comfort":[104],"safety":[106],"through":[107],"method.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
