{"id":"https://openalex.org/W7136683040","doi":"https://doi.org/10.1109/itsc60802.2025.11423123","title":"Path-Following Model Predictive Control for Autonomous E-Scooters","display_name":"Path-Following Model Predictive Control for Autonomous E-Scooters","publication_year":2025,"publication_date":"2025-11-18","ids":{"openalex":"https://openalex.org/W7136683040","doi":"https://doi.org/10.1109/itsc60802.2025.11423123"},"language":null,"primary_location":{"id":"doi:10.1109/itsc60802.2025.11423123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc60802.2025.11423123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 28th 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/A5028194178","display_name":"David Meister","orcid":"https://orcid.org/0000-0002-6088-1351"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Meister","raw_affiliation_strings":["University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090569087","display_name":"Robin Str\u00e4sser","orcid":"https://orcid.org/0000-0003-4629-844X"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robin Str\u00e4sser","raw_affiliation_strings":["University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036057942","display_name":"Felix Br\u00e4ndle","orcid":"https://orcid.org/0000-0002-6887-1289"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Br\u00e4ndle","raw_affiliation_strings":["University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102725115","display_name":"Marc Seidel","orcid":"https://orcid.org/0000-0002-6507-3417"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Seidel","raw_affiliation_strings":["University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129529217","display_name":"Benno Bassler","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benno Bassler","raw_affiliation_strings":["University of Stuttgart,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129594226","display_name":"Nathan Gerber","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nathan Gerber","raw_affiliation_strings":["University of Stuttgart,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129429471","display_name":"Jan Kautz","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Kautz","raw_affiliation_strings":["University of Stuttgart,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129499004","display_name":"Elena Rommel","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elena Rommel","raw_affiliation_strings":["University of Stuttgart,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129553984","display_name":"Frank Allg\u00f6wer","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Allg\u00f6wer","raw_affiliation_strings":["University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Institute for Systems Theory and Automatic Control,Stuttgart,Germany,70550","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.65890819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1906","last_page":"1911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8597000241279602,"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":0.8597000241279602,"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/T11236","display_name":"Control Systems and Identification","score":0.03590000048279762,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.013700000010430813,"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/model-predictive-control","display_name":"Model predictive control","score":0.5527999997138977},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3912000060081482},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.353300005197525},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3506999909877777},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3264000117778778},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.28220000863075256}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5527999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5457000136375427},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3912000060081482},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.353300005197525},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3506999909877777},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3264000117778778},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2793000042438507},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26510000228881836},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.262800008058548},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.25429999828338623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc60802.2025.11423123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc60802.2025.11423123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1601380202","https://openalex.org/W1994691007","https://openalex.org/W2041168221","https://openalex.org/W2102348903","https://openalex.org/W2134781609","https://openalex.org/W2790374560","https://openalex.org/W2886200457","https://openalex.org/W2895719192","https://openalex.org/W2966590064","https://openalex.org/W3003968822","https://openalex.org/W3185350997","https://openalex.org/W3201919929","https://openalex.org/W3207305612","https://openalex.org/W4232210163","https://openalex.org/W4311174866","https://openalex.org/W4393178193","https://openalex.org/W4402264308","https://openalex.org/W4403276767","https://openalex.org/W4410514956","https://openalex.org/W4414116926"],"related_works":[],"abstract_inverted_index":{"In":[0,45],"order":[1],"to":[2,24,35,56,69,88,111],"mitigate":[3],"economical,":[4],"ecological,":[5],"and":[6,59,80,106],"societal":[7],"challenges":[8],"in":[9,61,130],"electric":[10],"scooter":[11],"(e-scooter)":[12],"sharing":[13],"systems,":[14],"we":[15,48],"develop":[16],"an":[17,62],"autonomous":[18,28],"e-scooter":[19,87],"prototype.":[20,136],"Our":[21,99],"vision":[22],"is":[23],"design":[25,72],"a":[26,50,66,73,93,119,131],"fully":[27],"prototype":[29],"that":[30,76],"can":[31],"find":[32],"its":[33,90],"way":[34],"the":[36,78,86,112,125],"next":[37],"parking":[38],"spot,":[39],"high-demand":[40],"area,":[41],"or":[42],"charging":[43],"station.":[44],"this":[46],"work,":[47],"propose":[49],"path-following":[51],"model":[52,100],"predictive":[53,101],"control":[54,102],"solution":[55],"enable":[57],"localization":[58,79],"navigation":[60],"urban":[63],"environment":[64],"with":[65,92],"provided":[67],"path":[68,81,113],"follow.":[70],"We":[71,123],"closedloop":[74],"architecture":[75],"solves":[77],"following":[82],"problem":[83],"while":[84,115],"allowing":[85],"maintain":[89],"balance":[91],"previously":[94],"developed":[95],"reaction":[96],"wheel":[97],"mechanism.":[98],"approach":[103,129],"facilitates":[104],"state":[105],"input":[107],"constraints,":[108],"e.g.,":[109],"adhering":[110],"width,":[114],"remaining":[116],"executable":[117],"on":[118,134],"Raspberry":[120],"Pi":[121],"5.":[122],"demonstrate":[124],"efficacy":[126],"of":[127],"our":[128,135],"real-world":[132],"experiment":[133]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-17T00:00:00"}