{"id":"https://openalex.org/W3200913209","doi":"https://doi.org/10.1109/lra.2022.3156648","title":"Interactive Multi-Modal Motion Planning With Branch Model Predictive Control","display_name":"Interactive Multi-Modal Motion Planning With Branch Model Predictive Control","publication_year":2022,"publication_date":"2022-03-07","ids":{"openalex":"https://openalex.org/W3200913209","doi":"https://doi.org/10.1109/lra.2022.3156648","mag":"3200913209"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3156648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3156648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"license_id":null,"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":"green","oa_url":"https://authors.library.caltech.edu/113935/2/2109.05128v2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100366786","display_name":"Yuxiao Chen","orcid":"https://orcid.org/0000-0001-5276-7156"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuxiao Chen","raw_affiliation_strings":["California Institute of Technology, USA","NVIDIA research, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5276-7156","affiliations":[{"raw_affiliation_string":"California Institute of Technology, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"NVIDIA research, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026281392","display_name":"Ugo Rosolia","orcid":"https://orcid.org/0000-0002-1682-0551"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ugo Rosolia","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"raw_orcid":"https://orcid.org/0000-0002-1682-0551","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044985505","display_name":"Wyatt Ubellacker","orcid":"https://orcid.org/0000-0002-4732-6185"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wyatt Ubellacker","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064460951","display_name":"Noel Csomay-Shanklin","orcid":"https://orcid.org/0000-0002-2361-1694"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Noel Csomay-Shanklin","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"raw_orcid":"https://orcid.org/0000-0002-2361-1694","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.6166,"has_fulltext":true,"cited_by_count":72,"citation_normalized_percentile":{"value":0.98519185,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"5365","last_page":"5372"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9969000220298767,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9969000220298767,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9890000224113464,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9836999773979187,"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":0.6614717841148376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.576377809047699},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5677526593208313},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.567132830619812},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5296112298965454},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5143802762031555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49392229318618774},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4488440752029419},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.44162222743034363},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4291980564594269},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36222004890441895},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27188634872436523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24719756841659546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15437451004981995}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6614717841148376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.576377809047699},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5677526593208313},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.567132830619812},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5296112298965454},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5143802762031555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49392229318618774},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4488440752029419},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.44162222743034363},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4291980564594269},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36222004890441895},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27188634872436523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24719756841659546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15437451004981995},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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.2022.3156648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3156648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:113935","is_oa":true,"landing_page_url":"https://authors.library.caltech.edu/113935/","pdf_url":"https://authors.library.caltech.edu/113935/2/2109.05128v2.pdf","source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:authors.library.caltech.edu:113935","is_oa":true,"landing_page_url":"https://authors.library.caltech.edu/113935/","pdf_url":"https://authors.library.caltech.edu/113935/2/2109.05128v2.pdf","source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"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":"Article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3200913209.pdf","grobid_xml":"https://content.openalex.org/works/W3200913209.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1176413013","https://openalex.org/W1605929701","https://openalex.org/W1990895942","https://openalex.org/W2019291268","https://openalex.org/W2031355801","https://openalex.org/W2047990226","https://openalex.org/W2099430963","https://openalex.org/W2106993639","https://openalex.org/W2110349823","https://openalex.org/W2129516068","https://openalex.org/W2150983233","https://openalex.org/W2157822824","https://openalex.org/W2164957979","https://openalex.org/W2749680651","https://openalex.org/W2769646558","https://openalex.org/W2771691050","https://openalex.org/W2842089854","https://openalex.org/W2902505661","https://openalex.org/W2915031958","https://openalex.org/W2923817898","https://openalex.org/W2963001155","https://openalex.org/W2963082836","https://openalex.org/W2963219401","https://openalex.org/W2963488412","https://openalex.org/W2968009374","https://openalex.org/W2972896277","https://openalex.org/W2985871763","https://openalex.org/W3035313359","https://openalex.org/W3035671534","https://openalex.org/W3047545417","https://openalex.org/W3100114896","https://openalex.org/W3101798601","https://openalex.org/W3102923851","https://openalex.org/W3104730803","https://openalex.org/W3109039236","https://openalex.org/W3113616534","https://openalex.org/W3125145310","https://openalex.org/W3130676412","https://openalex.org/W3173314523","https://openalex.org/W3209289000","https://openalex.org/W4246038204","https://openalex.org/W6766132365","https://openalex.org/W6773237546","https://openalex.org/W6791557878"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W1568779110","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680"],"abstract_inverted_index":{"Motion":[0],"planning":[1,45,157],"for":[2,100],"autonomous":[3,155,164],"robots":[4],"and":[5,95,144,161,184],"vehicles":[6],"in":[7,104,159,171],"presence":[8],"of":[9,20,74,89,91,107],"uncontrolled":[10,22,29,76,93,169],"agents":[11,23,30],"remains":[12],"a":[13,42,52,57,80,86,101,108,135,180],"challenging":[14],"problem":[15,46,158],"as":[16,116,125,134],"the":[17,21,28,36,71,75,92,96,105,113,117,126,140],"reactive":[18,34,72],"behaviors":[19],"must":[24],"be":[25],"considered.":[26],"Since":[27],"usually":[31],"demonstrate":[32],"multimodal":[33],"behavior,":[35],"motion":[37,44],"planner":[38],"needs":[39],"to":[40,69,138],"solve":[41],"continuous":[43],"under":[47],"these":[48],"behaviors,":[49,178],"which":[50,111],"contains":[51],"discrete":[53],"element.":[54],"We":[55],"propose":[56],"branch":[58,97,148],"Model":[59],"Predictive":[60],"Control":[61],"(MPC)":[62],"framework":[63,150],"that":[64],"plans":[65],"over":[66],"feedback":[67,102],"policies":[68,90],"leverage":[70],"behavior":[73],"agent.":[77],"In":[78],"particular,":[79],"scenario":[81,118],"tree":[82],"is":[83,151],"constructed":[84],"from":[85],"finite":[87],"set":[88],"agent,":[94],"MPC":[98,149],"solves":[99],"policy":[103],"form":[106],"trajectory":[109],"tree,":[110],"shares":[112],"same":[114],"topology":[115],"tree.":[119],"Moreover,":[120],"coherent":[121],"risk":[122],"measures":[123],"such":[124],"Conditional":[127],"Value":[128],"at":[129],"Risk":[130],"(CVaR)":[131],"are":[132],"used":[133],"tuning":[136],"knob":[137],"adjust":[139],"tradeoff":[141],"between":[142,182],"performance":[143],"robustness.":[145],"The":[146,173],"proposed":[147],"tested":[152],"on":[153,162],"an":[154,163,168],"vehicle":[156],"simulation,":[160],"quadruped":[165,170],"robot":[166],"alongside":[167],"experiments.":[172],"result":[174],"demonstrates":[175],"interesting":[176],"human-like":[177],"achieving":[179],"balance":[181],"safety":[183],"performance.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}