{"id":"https://openalex.org/W4413018116","doi":"https://doi.org/10.1109/iv64158.2025.11097631","title":"Randomized Model Predictive Control for Autonomous Racing","display_name":"Randomized Model Predictive Control for Autonomous Racing","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413018116","doi":"https://doi.org/10.1109/iv64158.2025.11097631"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097631","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","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/A5001049082","display_name":"Arun Muraleedharan","orcid":"https://orcid.org/0000-0003-4088-3613"},"institutions":[{"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"],"is_corresponding":true,"raw_author_name":"Arun Muraleedharan","raw_affiliation_strings":["Technology Innovation Institute,Autonomous Robotics Research Center,Abu Dhabi,United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute,Autonomous Robotics Research Center,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119232310","display_name":"Ivo Sim\u00f5es","orcid":null},"institutions":[{"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"],"is_corresponding":false,"raw_author_name":"Ivo Sim\u00f5es","raw_affiliation_strings":["Technology Innovation Institute,Autonomous Robotics Research Center,Abu Dhabi,United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute,Autonomous Robotics Research Center,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I4210087059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048063581","display_name":"Giovanni Pau","orcid":"https://orcid.org/0000-0003-2216-7170"},"institutions":[{"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"],"is_corresponding":false,"raw_author_name":"Giovanni Pau","raw_affiliation_strings":["Technology Innovation Institute,Autonomous Robotics Research Center,Abu Dhabi,United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"Technology Innovation Institute,Autonomous Robotics Research Center,Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I4210087059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001049082"],"corresponding_institution_ids":["https://openalex.org/I4210087059"],"apc_list":null,"apc_paid":null,"fwci":0.7154,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74187807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1078","last_page":"1085"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991999864578247,"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":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987999796867371,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9966999888420105,"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/computer-science","display_name":"Computer science","score":0.5478224754333496},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5052991509437561},{"id":"https://openalex.org/keywords/randomized-controlled-trial","display_name":"Randomized controlled trial","score":0.4809631407260895},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4075074791908264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2795674204826355},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14351898431777954}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5478224754333496},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5052991509437561},{"id":"https://openalex.org/C168563851","wikidata":"https://www.wikidata.org/wiki/Q1436668","display_name":"Randomized controlled trial","level":2,"score":0.4809631407260895},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4075074791908264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2795674204826355},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14351898431777954},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097631","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W604093525","https://openalex.org/W1544016679","https://openalex.org/W2023136445","https://openalex.org/W2027758424","https://openalex.org/W2112930335","https://openalex.org/W2182631142","https://openalex.org/W2260905884","https://openalex.org/W2765743988","https://openalex.org/W2869375357","https://openalex.org/W2970619639","https://openalex.org/W3036383710","https://openalex.org/W3113582903","https://openalex.org/W3132760324","https://openalex.org/W3133836538","https://openalex.org/W3153150218","https://openalex.org/W4210870706","https://openalex.org/W4226410592","https://openalex.org/W4285228542","https://openalex.org/W4308068350","https://openalex.org/W4321380998","https://openalex.org/W4399837528","https://openalex.org/W4404482001"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W2355769538","https://openalex.org/W2081816252","https://openalex.org/W3202234113","https://openalex.org/W2015216653","https://openalex.org/W2390279801","https://openalex.org/W2556120871"],"abstract_inverted_index":{"Autonomous":[0,156],"racing":[1],"is":[2,94],"an":[3],"emerging":[4],"research":[5],"field":[6],"that":[7,120],"has":[8],"gained":[9],"significant":[10],"interest":[11],"in":[12,61,72,136,191],"recent":[13],"years.":[14],"Controlling":[15],"a":[16,25,35,68,97,138,145,181,187],"vehicle":[17,89],"at":[18,174],"the":[19,32,53,62,73,85,106,153,163,167,172,175,192,196],"limit":[20],"of":[21,34,55,152,161,171,186,195],"tire":[22],"grip":[23],"presents":[24],"challenging":[26],"control":[27,115,127],"problem.":[28],"This":[29,76],"paper":[30],"demonstrates":[31],"implementation":[33,165],"randomized":[36],"optimization":[37],"based":[38],"Model":[39,47],"Predictive":[40,48],"Control":[41,49],"(MPC),":[42],"referred":[43],"to":[44,51,84,105],"as":[45],"Randomized":[46],"(RMPC),":[50],"address":[52],"challenge":[54],"autonomous":[56,140,169],"racing.":[57],"The":[58,91,111,129],"random":[59],"samples":[60],"proposed":[63,92,130,164],"RMPC":[64,93],"are":[65,82],"generated":[66],"using":[67],"novel":[69],"generation":[70],"technique":[71],"frequency":[74],"domain.":[75],"approach":[77],"prevents":[78],"undesirable":[79],"oscillations,":[80],"which":[81],"critical":[83],"smoothness":[86],"required":[87],"for":[88],"control.":[90],"implemented":[95],"on":[96,144],"Graphics":[98],"Processing":[99,108],"Unit":[100,109],"(GPU),":[101],"minimizing":[102],"data":[103],"transfer":[104],"Central":[107],"(CPU).":[110],"results":[112],"demonstrate":[113],"improved":[114],"performance":[116],"and":[117,134],"lap":[118,170,182],"times":[119],"surpass":[121],"those":[122],"achievable":[123],"with":[124],"state-of-the-art":[125],"nonlinear":[126],"methods.":[128],"scheme":[131],"proved":[132],"fast":[133],"efficient":[135],"driving":[137],"full-scale":[139],"race":[141,160],"car":[142],"built":[143],"Dallara":[146],"SF23":[147],"Superformula":[148],"chassis.":[149],"As":[150],"part":[151],"Abu":[154],"Dhabi":[155],"Racing":[157],"League":[158],"(A2RL)":[159],"2024,":[162],"set":[166],"fastest":[168],"series":[173],"iconic":[176],"Yas":[177],"Marina":[178],"Circuit,":[179],"achieving":[180],"time":[183],"within":[184],"10%":[185],"Formula":[188],"1":[189],"driver":[190],"human-driven":[193],"version":[194],"same":[197],"car.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
