{"id":"https://openalex.org/W4408696930","doi":"https://doi.org/10.1109/itsc58415.2024.10920173","title":"Real-Time MPC for WATonoBus Path Tracking","display_name":"Real-Time MPC for WATonoBus Path Tracking","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4408696930","doi":"https://doi.org/10.1109/itsc58415.2024.10920173"},"language":"en","primary_location":{"id":"doi:10.1109/itsc58415.2024.10920173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920173","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/A5114636777","display_name":"Steven Tuer","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Steven Tuer","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045189887","display_name":"Pouya Panahandeh","orcid":"https://orcid.org/0009-0007-2459-0382"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pouya Panahandeh","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004187040","display_name":"Ahmad Reza Alghooneh","orcid":"https://orcid.org/0009-0009-6983-2511"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ahmad Reza Alghooneh","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100722234","display_name":"Chen Sun","orcid":"https://orcid.org/0000-0001-8772-9627"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chen Sun","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086890961","display_name":"Ruihe Zhang","orcid":"https://orcid.org/0000-0002-2902-807X"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ruihe Zhang","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062703014","display_name":"Minghao Ning","orcid":"https://orcid.org/0000-0003-4333-5524"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Minghao Ning","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020470831","display_name":"Amir Khajepour","orcid":"https://orcid.org/0000-0002-1998-6100"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Khajepour","raw_affiliation_strings":["University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo,Mechanical and Mechatronics Eng. Department,Waterloo,ON,Canada,N2L3G1","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5114636777"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.5186,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70239918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3233","last_page":"3238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10904","display_name":"Embedded Systems Design Techniques","score":0.957099974155426,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.957099974155426,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9567000269889832,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9502000212669373,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.6343710422515869},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5660572052001953},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4439029097557068},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1065744161605835}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6343710422515869},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5660572052001953},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4439029097557068},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1065744161605835},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc58415.2024.10920173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc58415.2024.10920173","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"},{"id":"pmh:oai:hub.hku.hk:10722/355241","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/355241","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2754470917","https://openalex.org/W2791810658","https://openalex.org/W2980879928","https://openalex.org/W3096266625","https://openalex.org/W3112667348","https://openalex.org/W3127659175","https://openalex.org/W3201443213","https://openalex.org/W4225400064","https://openalex.org/W4295855146","https://openalex.org/W4387935015","https://openalex.org/W4391888053"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1,152],"paper,":[2],"a":[3,22,32,56,62,72,119],"real-time":[4,49,146],"Model":[5],"Predictive":[6],"Controller":[7],"(MPC)":[8],"tailored":[9],"for":[10,48,121,139,162],"precise":[11],"path":[12],"tracking":[13,95],"in":[14,85,99],"congested":[15],"urban":[16,100],"traffic":[17],"environments":[18],"is":[19,96,116,130],"developed.":[20],"Leveraging":[21],"front":[23],"and":[24,106,110,114],"rear":[25],"steering":[26,69],"dynamic":[27,42],"bicycle":[28],"model,":[29,35],"along":[30,89],"with":[31,92],"linear":[33],"tire":[34],"the":[36,78,82,87,123,135,145,149,155],"controller":[37,161],"aims":[38],"to":[39,44,67,137],"reduce":[40],"system":[41,141],"complexity":[43],"ensure":[45],"computational":[46],"feasibility":[47],"operation.":[50],"The":[51],"proposed":[52],"MPC":[53,160],"formulation":[54],"features":[55],"quadratic":[57,64],"cost":[58],"function,":[59],"solved":[60],"using":[61,127],"standard":[63],"programming":[65],"solver,":[66],"optimize":[68],"inputs":[70],"over":[71],"prediction":[73,125],"horizon.":[74],"Experimental":[75],"validation":[76],"on":[77],"WATonoBus":[79],"platform":[80],"demonstrates":[81],"controller's":[83],"effectiveness":[84],"guiding":[86],"vehicle":[88,124],"desired":[90],"trajectories":[91],"precision.":[93],"Precise":[94],"especially":[97],"important":[98],"driving":[101,165],"scenarios":[102],"such":[103],"as":[104],"merging,":[105],"pullover,":[107],"where":[108],"safety":[109],"avoidance":[111],"of":[112,148,158],"pedestrians":[113],"curbs":[115],"paramount.":[117],"Additionally,":[118],"framework":[120,133],"augmenting":[122],"model":[126],"data-driven":[128],"techniques":[129],"explored.":[131],"This":[132],"provides":[134],"ability":[136],"account":[138],"unmodelled":[140],"dynamics":[142],"while":[143],"maintaining":[144],"capability":[147],"controller.":[150],"Overall,":[151],"work":[153],"showcases":[154],"practical":[156],"applicability":[157],"an":[159],"real-world":[163],"autonomous":[164],"scenarios.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}
