{"id":"https://openalex.org/W2739560744","doi":"https://doi.org/10.1109/ivs.2017.7995795","title":"Cooperative driving using a hierarchy of mixed-integer programming and tracking control","display_name":"Cooperative driving using a hierarchy of mixed-integer programming and tracking control","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2739560744","doi":"https://doi.org/10.1109/ivs.2017.7995795","mag":"2739560744"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2017.7995795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5073914616","display_name":"Jan Eilbrecht","orcid":null},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Eilbrecht","raw_affiliation_strings":["Dept. of Electrical Eng. and Computer Science, University of Kassel, Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Eng. and Computer Science, University of Kassel, Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040756775","display_name":"Olaf Stursberg","orcid":"https://orcid.org/0000-0002-9600-457X"},"institutions":[{"id":"https://openalex.org/I106157433","display_name":"University of Kassel","ror":"https://ror.org/04zc7p361","country_code":"DE","type":"education","lineage":["https://openalex.org/I106157433"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Olaf Stursberg","raw_affiliation_strings":["Dept. of Electrical Eng. and Computer Science, University of Kassel, Kassel, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Eng. and Computer Science, University of Kassel, Kassel, Germany","institution_ids":["https://openalex.org/I106157433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I106157433"],"apc_list":null,"apc_paid":null,"fwci":2.857,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.91045631,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"673","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.681702733039856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6673712730407715},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.663539469242096},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6363045573234558},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.5882827043533325},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5323904752731323},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5281657576560974},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49811434745788574},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49129384756088257},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.4861313998699188},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4720759391784668},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.46372219920158386},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46164244413375854},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46020907163619995},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.44592323899269104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4313051104545593},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.42124396562576294},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41787615418434143},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23050442337989807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20776641368865967},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16949981451034546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16205912828445435},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1283133327960968}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.681702733039856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6673712730407715},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.663539469242096},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6363045573234558},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.5882827043533325},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5323904752731323},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5281657576560974},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49811434745788574},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49129384756088257},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.4861313998699188},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4720759391784668},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.46372219920158386},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46164244413375854},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46020907163619995},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.44592323899269104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4313051104545593},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.42124396562576294},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41787615418434143},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23050442337989807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20776641368865967},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16949981451034546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16205912828445435},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1283133327960968},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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":1,"locations":[{"id":"doi:10.1109/ivs.2017.7995795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2017.7995795","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6499999761581421,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1601512022","https://openalex.org/W1968651858","https://openalex.org/W2008814617","https://openalex.org/W2019954549","https://openalex.org/W2028678875","https://openalex.org/W2082266204","https://openalex.org/W2130519480","https://openalex.org/W2137790108","https://openalex.org/W2140305633","https://openalex.org/W2150292516","https://openalex.org/W2209819150","https://openalex.org/W2510875290","https://openalex.org/W2511075942","https://openalex.org/W2517622066","https://openalex.org/W2536620281","https://openalex.org/W3151316411","https://openalex.org/W6635932078"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W3115036371","https://openalex.org/W1960909554","https://openalex.org/W2080896647","https://openalex.org/W2158000646","https://openalex.org/W128654086","https://openalex.org/W2886734572"],"abstract_inverted_index":{"This":[0],"paper":[1],"aims":[2],"at":[3],"cooperatively":[4],"resolving":[5],"conflicts":[6],"arising":[7],"between":[8],"several":[9],"fully-autonomous,":[10],"communicating":[11],"vehicles":[12],"in":[13,36,100],"general":[14],"on-road":[15],"traffic":[16],"scenarios.":[17],"A":[18,28,50],"hierarchical":[19],"control":[20,78],"scheme":[21,55],"with":[22],"two":[23],"main":[24],"units":[25],"is":[26,56,98],"proposed:":[27],"short-term":[29],"planning":[30],"unit":[31],"determines":[32],"obstacle-avoiding":[33],"reference":[34],"trajectories":[35],"a":[37,68,88,101],"receding-horizon-fashion,":[38],"based":[39,74],"on":[40,75],"solving":[41],"mixed-integer":[42],"quadratic":[43],"programs":[44],"(MIQP)":[45],"for":[46],"simplified":[47],"vehicle":[48,90],"dynamics.":[49],"novel":[51],"cooperative":[52],"conflict":[53],"resolution":[54],"proposed":[57,96],"which":[58],"orchestrates":[59],"the":[60,85,95],"plans":[61],"of":[62,94],"neighboring":[63],"vehicles,":[64],"trying":[65],"to":[66,83],"minimize":[67],"common":[69],"cost":[70],"function.":[71],"Tracking":[72],"controllers":[73],"model":[76],"predictive":[77],"(MPC)":[79],"are":[80],"then":[81],"employed":[82],"track":[84],"references":[86],"using":[87],"nonlinear":[89],"model.":[91],"The":[92],"functionality":[93],"method":[97],"demonstrated":[99],"simulation":[102],"example.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
