{"id":"https://openalex.org/W2970046048","doi":"https://doi.org/10.1109/ivs.2019.8814251","title":"Safe but not Overcautious Motion Planning under Occlusions and Limited Sensor Range","display_name":"Safe but not Overcautious Motion Planning under Occlusions and Limited Sensor Range","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2970046048","doi":"https://doi.org/10.1109/ivs.2019.8814251","mag":"2970046048"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8814251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5023079553","display_name":"Maximilian Naumann","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Maximilian Naumann","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054834185","display_name":"Hendrik K\u00f6nigshof","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]},{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hendrik Konigshof","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008189468","display_name":"Martin Lauer","orcid":"https://orcid.org/0000-0003-4414-5722"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Lauer","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091574711","display_name":"Christoph Stiller","orcid":"https://orcid.org/0000-0003-4165-2075"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]},{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Stiller","raw_affiliation_strings":["Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Mobile Perception Systems, FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023079553"],"corresponding_institution_ids":["https://openalex.org/I102335020","https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":2.733,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.92556505,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"140","last_page":"145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/computer-science","display_name":"Computer science","score":0.7286813259124756},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6685077548027039},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6573635935783386},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5098932981491089},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4828777611255646},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.48060935735702515},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47867733240127563},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3263125419616699},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.19037804007530212},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18739551305770874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10831931233406067}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7286813259124756},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6685077548027039},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6573635935783386},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5098932981491089},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4828777611255646},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.48060935735702515},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47867733240127563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3263125419616699},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.19037804007530212},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18739551305770874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10831931233406067},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2019.8814251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8814251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1998949401","https://openalex.org/W2004815408","https://openalex.org/W2019363670","https://openalex.org/W2021667711","https://openalex.org/W2740508249","https://openalex.org/W2746516708","https://openalex.org/W2749747771","https://openalex.org/W2804403788","https://openalex.org/W2809695613","https://openalex.org/W2891629498","https://openalex.org/W2905509562","https://openalex.org/W2951875426","https://openalex.org/W3102725979","https://openalex.org/W3104409632","https://openalex.org/W3106180689","https://openalex.org/W4238893454","https://openalex.org/W4297781990","https://openalex.org/W4297801031","https://openalex.org/W6743085725"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W2024668666","https://openalex.org/W2132826624","https://openalex.org/W4281385974","https://openalex.org/W2112736381","https://openalex.org/W1990568201","https://openalex.org/W2045659398","https://openalex.org/W2125569607"],"abstract_inverted_index":{"For":[0],"a":[1,40,130],"successful":[2],"introduction":[3],"of":[4,52,124],"fully":[5],"automated":[6],"vehicles,":[7],"they":[8],"must":[9],"behave":[10],"both":[11],"provably":[12,120],"safe":[13,53,86],"but":[14],"also":[15],"convenient,":[16],"i.e.":[17],"comfortable":[18,84],"and":[19,33,73,85],"not":[20,114],"overcautious.":[21],"Given":[22],"the":[23],"limited":[24],"sensing":[25,100],"capabilities,":[26],"especially":[27],"in":[28,80,129],"urban":[29],"scenarios":[30],"where":[31],"buildings":[32],"parking":[34],"vehicles":[35],"impose":[36],"occlusions,":[37],"this":[38,108],"is":[39,65,127],"challenging":[41],"task.":[42],"While":[43],"recent":[44],"approaches":[45,76],"gave":[46],"first":[47],"ideas":[48],"for":[49,57,77],"boundary":[50],"conditions":[51],"behavior,":[54],"an":[55,67],"approach":[56,126],"convenient":[58],"motion":[59,87],"planning":[60],"that":[61],"fulfills":[62],"these":[63],"constraints":[64],"still":[66,118],"open":[68],"issue.":[69],"Therefore,":[70],"we":[71,110],"utilize":[72],"enhance":[74],"safety":[75],"occlusion":[78],"handling":[79],"order":[81],"to":[82,113],"facilitate":[83],"planning.":[88],"We":[89],"consider":[90],"worst":[91],"case":[92],"assumptions,":[93],"arising":[94],"from":[95],"potential":[96,123],"objects":[97],"at":[98],"critical":[99],"field":[101],"edges,":[102],"along":[103],"with":[104],"their":[105],"probability.":[106],"With":[107],"information,":[109],"can":[111],"ensure":[112],"act":[115],"overcautiously":[116],"while":[117],"moving":[119],"safe.":[121],"The":[122],"our":[125],"shown":[128],"modified":[131],"CommonROAD":[132],"scenario.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}