{"id":"https://openalex.org/W4413017939","doi":"https://doi.org/10.1109/iv64158.2025.11097653","title":"Online Velocity Profile Generation and Tracking for Sampling-Based Local Planning Algorithms in Autonomous Racing Environments","display_name":"Online Velocity Profile Generation and Tracking for Sampling-Based Local Planning Algorithms in Autonomous Racing Environments","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413017939","doi":"https://doi.org/10.1109/iv64158.2025.11097653"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097653","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":"conference-paper","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/A5014885617","display_name":"A. Langmann","orcid":"https://orcid.org/0009-0005-0461-2156"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Langmann","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053502430","display_name":"Levent \u00d6gretmen","orcid":"https://orcid.org/0000-0002-5410-4281"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Levent \u00d6gretmen","raw_affiliation_strings":["Technical University of Munich,Chair of Automatic Control,Garching,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Automatic Control,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023001649","display_name":"Frederik Werner","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frederik Werner","raw_affiliation_strings":["Institute of Automotive Technology, TUM School of Engineering and Design, Technical University of Munich,Garching,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automotive Technology, TUM School of Engineering and Design, Technical University of Munich,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012556749","display_name":"Johannes Betz","orcid":"https://orcid.org/0000-0002-5674-4805"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Betz","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"632","last_page":"639"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9972000122070312,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6964514851570129},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6292905807495117},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5207831263542175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.444912850856781},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40595367550849915},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3963369131088257}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6964514851570129},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6292905807495117},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5207831263542175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.444912850856781},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40595367550849915},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3963369131088257},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097653","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1524699577","https://openalex.org/W2107338474","https://openalex.org/W2136209220","https://openalex.org/W2139119224","https://openalex.org/W2148207195","https://openalex.org/W2335306738","https://openalex.org/W2593097710","https://openalex.org/W2923061088","https://openalex.org/W2942383905","https://openalex.org/W2951357333","https://openalex.org/W2994755084","https://openalex.org/W3008461790","https://openalex.org/W3116053060","https://openalex.org/W3126594768","https://openalex.org/W3205100017","https://openalex.org/W4285228542","https://openalex.org/W4308068350","https://openalex.org/W4308333989","https://openalex.org/W4315797158","https://openalex.org/W4385326805","https://openalex.org/W4386519421","https://openalex.org/W4393300478","https://openalex.org/W4400645711","https://openalex.org/W4400648047","https://openalex.org/W4401210495","https://openalex.org/W4401336191","https://openalex.org/W4403277541","https://openalex.org/W6609227291"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3],"online":[4,34],"velocity":[5,35,54,102],"planner":[6],"for":[7,33,43,60],"autonomous":[8],"racing":[9,81,94],"that":[10],"adapts":[11],"to":[12,66,89],"changing":[13],"dynamic":[14],"constraints,":[15],"such":[16],"as":[17,57],"grip":[18],"variations":[19],"from":[20,91],"tire":[21],"temperature":[22],"changes":[23],"and":[24,68,77,83,96],"rubber":[25],"accumulation.":[26],"The":[27,52],"method":[28],"combines":[29],"a":[30,38,48,58],"forward-backward":[31],"solver":[32],"optimization":[36],"with":[37],"novel":[39],"spatial":[40],"sampling":[41],"strategy":[42],"local":[44,62],"trajectory":[45],"planning,":[46],"utilizing":[47],"three-dimensional":[49],"track":[50],"representation.":[51],"computed":[53],"profile":[55],"serves":[56],"reference":[59],"the":[61,73,92,101],"planner,":[63],"ensuring":[64],"adaptability":[65],"environmental":[67],"vehicle":[69],"dynamics.":[70],"We":[71],"demonstrate":[72],"approach's":[74],"robust":[75],"performance":[76],"computational":[78],"efficiency":[79],"in":[80],"scenarios":[82],"discuss":[84],"its":[85],"limitations,":[86],"including":[87],"sensitivity":[88],"deviations":[90],"predefined":[93],"line":[95],"high":[97],"jerk":[98],"characteristics":[99],"of":[100],"profile.":[103]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}