{"id":"https://openalex.org/W3159022532","doi":"https://doi.org/10.1109/lra.2021.3074866","title":"Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments","display_name":"Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments","publication_year":2021,"publication_date":"2021-04-22","ids":{"openalex":"https://openalex.org/W3159022532","doi":"https://doi.org/10.1109/lra.2021.3074866","mag":"3159022532"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3074866","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3074866","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09410362.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09410362.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069461952","display_name":"Oscar de Groot","orcid":"https://orcid.org/0000-0001-6527-7367"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Oscar de Groot","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-6527-7367","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038513643","display_name":"Bruno Brito","orcid":"https://orcid.org/0000-0003-3598-8015"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bruno Brito","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-3598-8015","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-3856-6221","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085298812","display_name":"Dariu M. Gavrila","orcid":"https://orcid.org/0000-0002-1810-4196"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dariu Gavrila","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-1810-4196","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-0058-570X","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":1.3905,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.78972307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"5389","last_page":"5396"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9988999962806702,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9988999962806702,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9966999888420105,"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/computer-science","display_name":"Computer science","score":0.7222574949264526},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6324120759963989},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6256663799285889},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5882101655006409},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5797733664512634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5113500952720642},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5006439685821533},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.47643667459487915},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4649480879306793},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4649079740047455},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4494176506996155},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.44890138506889343},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.43613535165786743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24843838810920715},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.22496718168258667},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1607377529144287},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14380845427513123}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7222574949264526},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6324120759963989},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6256663799285889},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5882101655006409},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5797733664512634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5113500952720642},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5006439685821533},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.47643667459487915},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4649480879306793},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4649079740047455},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4494176506996155},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.44890138506889343},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.43613535165786743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24843838810920715},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.22496718168258667},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1607377529144287},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14380845427513123},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3074866","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3074866","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09410362.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:tudelft.nl:uuid:8c17f8a3-c70c-414b-8f6c-52f3a3085d6b","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:8c17f8a3-c70c-414b-8f6c-52f3a3085d6b","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3074866","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3074866","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09410362.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G2889751301","display_name":null,"funder_award_id":"15916","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"},{"id":"https://openalex.org/G3602435090","display_name":"Safe interaction of automated vehicles with vulnerable road users","funder_award_id":"14667","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3159022532.pdf","grobid_xml":"https://content.openalex.org/works/W3159022532.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1965612527","https://openalex.org/W1976466849","https://openalex.org/W2066778083","https://openalex.org/W2080717363","https://openalex.org/W2097148013","https://openalex.org/W2131295967","https://openalex.org/W2136074741","https://openalex.org/W2162117184","https://openalex.org/W2167052694","https://openalex.org/W2167412190","https://openalex.org/W2790380176","https://openalex.org/W2803184913","https://openalex.org/W2810931617","https://openalex.org/W2909324603","https://openalex.org/W2963105220","https://openalex.org/W2964319688","https://openalex.org/W2970816301","https://openalex.org/W2972710776","https://openalex.org/W3028769608","https://openalex.org/W3044582844","https://openalex.org/W3099369367","https://openalex.org/W3105115779","https://openalex.org/W6769043036"],"related_works":["https://openalex.org/W2116242530","https://openalex.org/W2972304041","https://openalex.org/W4285056964","https://openalex.org/W4205945603","https://openalex.org/W2667528685","https://openalex.org/W2782381505","https://openalex.org/W3034167006","https://openalex.org/W2903025760","https://openalex.org/W2100092009","https://openalex.org/W4383108601"],"abstract_inverted_index":{"We":[0,157],"present":[1],"an":[2,10,65],"optimization-based":[3],"method":[4,24,160],"to":[5,68,118,152],"plan":[6],"the":[7,14,26,41,73,84,92,95,110,113,128,137,140],"motion":[8,141],"of":[9,29,94,99,112,139],"autonomous":[11],"robot":[12,179],"under":[13],"uncertainties":[15],"associated":[16],"with":[17,176],"dynamic":[18,89],"obstacles,":[19],"such":[20],"as":[21],"humans.":[22],"Our":[23],"bounds":[25],"marginal":[27],"risk":[28],"collisions":[30],"at":[31,91],"each":[32,81],"point":[33],"in":[34,161,172,185],"time":[35],"by":[36,108],"incorporating":[37],"chance":[38,62],"constraints":[39,63,75],"into":[40,76],"planning":[42],"problem.":[43],"This":[44],"problem":[45],"is":[46,146],"not":[47],"suitable":[48],"for":[49,53,87],"online":[50],"optimization":[51,123],"outright":[52],"arbitrary":[54,154],"probability":[55],"distributions.":[56,156],"Hence,":[57],"we":[58,115,125,149],"sample":[59],"from":[60],"these":[61],"using":[64],"uncertainty":[66,155],"model,":[67],"generate":[69],"\u201cscenarios,\u201d":[70],"which":[71],"translate":[72],"probabilistic":[74,134],"deterministic":[77],"ones.":[78],"In":[79],"practice,":[80],"scenario":[82,147],"represents":[83],"collision":[85],"constraint":[86],"a":[88,162,177],"obstacle":[90],"location":[93],"sample.":[96],"The":[97],"number":[98],"theoretically":[100],"required":[101],"scenarios":[102,121,130],"can":[103,131],"be":[104],"very":[105],"large.":[106],"Nevertheless,":[107],"exploiting":[109],"geometry":[111],"workspace,":[114],"show":[116],"how":[117,127],"prune":[119],"most":[120],"before":[122],"and":[124,168,174],"demonstrate":[126,169],"reduced":[129],"still":[132],"provide":[133],"guarantees":[135],"on":[136],"safety":[138],"plan.":[142],"Since":[143],"our":[144,159],"approach":[145],"based,":[148],"are":[150],"able":[151],"handle":[153],"apply":[158],"Model":[163],"Predictive":[164],"Contouring":[165],"Control":[166],"framework":[167],"its":[170],"benefits":[171],"simulations":[173],"experiments":[175],"moving":[178],"platform":[180],"navigating":[181],"among":[182],"pedestrians,":[183],"running":[184],"real-time.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2021-05-10T00:00:00"}