{"id":"https://openalex.org/W7163558327","doi":"https://doi.org/10.1109/lra.2026.3700425","title":"Track-Centric Iterative Learning for Global Trajectory Optimization in Autonomous Racing","display_name":"Track-Centric Iterative Learning for Global Trajectory Optimization in Autonomous Racing","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163558327","doi":"https://doi.org/10.1109/lra.2026.3700425"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3700425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3700425","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137847391","display_name":"Youngim Nam","orcid":null},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngim Nam","raw_affiliation_strings":["Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0001-6172-9968","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041027404","display_name":"Junsu Kim","orcid":"https://orcid.org/0000-0001-9583-7978"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungbin Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0000-4719-1228","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137905427","display_name":"Kyungtae Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyungtae Kang","raw_affiliation_strings":["Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0008-0186-8369","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072352116","display_name":"Cheolhyeon Kwon","orcid":"https://orcid.org/0000-0002-6084-8236"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Cheolhyeon Kwon","raw_affiliation_strings":["Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-6084-8236","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, Republic of Korea","institution_ids":["https://openalex.org/I48566637"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I48566637"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67359384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8680","last_page":"8687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.7717000246047974,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.7717000246047974,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.05090000107884407,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.027300000190734863,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.6704000234603882},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5756999850273132},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.3905999958515167},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.3849000036716461},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.34450000524520874},{"id":"https://openalex.org/keywords/iterative-and-incremental-development","display_name":"Iterative and incremental development","score":0.32179999351501465},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.31139999628067017}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.6704000234603882},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5756999850273132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5259000062942505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41359999775886536},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3905999958515167},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.32179999351501465},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.31139999628067017},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3043999969959259},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27239999175071716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26409998536109924},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3700425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3700425","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G212683602","display_name":null,"funder_award_id":"RS-2024-00405707","funder_id":"https://openalex.org/F4320324625","funder_display_name":"Korea Agency for Infrastructure Technology Advancement"},{"id":"https://openalex.org/G4001406825","display_name":null,"funder_award_id":"RS2025-02315344","funder_id":"https://openalex.org/F4320324625","funder_display_name":"Korea Agency for Infrastructure Technology Advancement"},{"id":"https://openalex.org/G8953455604","display_name":null,"funder_award_id":"RS-2024-00342930","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322010","display_name":"Ministry of Land, Infrastructure and Transport","ror":"https://ror.org/04xt5aa77"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320324625","display_name":"Korea Agency for Infrastructure Technology Advancement","ror":"https://ror.org/00rxf7n07"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,102,127],"paper":[1],"presents":[2],"a":[3,33,76,92,179],"global":[4,41],"trajectory":[5,21,34,62,139,153],"optimization":[6,128],"framework":[7,162],"for":[8,66,146],"minimizing":[9],"lap":[10,113,171],"time":[11,114,172],"in":[12,35,96,131],"autonomous":[13],"racing":[14,25],"under":[15],"uncertain":[16,45],"vehicle":[17],"dynamics.":[18,46,69,126],"Optimizing":[19],"the":[20,23,36,56,61,67,84,99,112,124,137,148,152,155,160],"over":[22,154,178],"full":[24],"horizon":[26],"is":[27,104,118,129,140,163],"computationally":[28],"expensive,":[29],"and":[30,82,167,182],"following":[31],"such":[32],"real":[37],"world":[38],"hardly":[39],"assures":[40],"optimality":[42],"due":[43],"to":[44,64,142,176],"Yet,":[47],"existing":[48],"work":[49],"mostly":[50],"focuses":[51],"on":[52],"dynamics":[53],"learning":[54,134],"at":[55],"control":[57],"level,":[58],"without":[59],"updating":[60,147],"itself":[63],"account":[65],"learned":[68,125],"To":[70],"address":[71],"these":[72],"challenges,":[73],"we":[74],"propose":[75],"track-centric":[77],"approach":[78],"that":[79],"directly":[80],"learns":[81],"optimizes":[83],"full-horizon":[85],"trajectory.":[86],"We":[87],"first":[88],"represent":[89],"trajectories":[90],"through":[91,165],"track-agnostic":[93],"parametric":[94],"space":[95,103],"light":[97],"of":[98,115,159,174],"wavelet":[100],"transform.":[101],"then":[105],"efficiently":[106],"explored":[107],"using":[108],"Bayesian":[109],"optimization,":[110],"where":[111,136],"each":[116],"candidate":[117],"evaluated":[119],"by":[120],"running":[121],"simulations":[122,166],"with":[123],"embedded":[130],"an":[132],"iterative":[133],"framework,":[135],"optimized":[138],"deployed":[141],"collect":[143],"real-world":[144,168],"data":[145],"dynamics,":[149],"progressively":[150],"refining":[151],"iterations.":[156],"The":[157],"effectiveness":[158],"proposed":[161],"validated":[164],"experiments,":[169],"demonstrating":[170],"improvement":[173],"up":[175],"8.9%":[177],"nominal":[180],"baseline":[181],"consistently":[183],"outperforming":[184],"state-of-the-art":[185],"methods.":[186]},"counts_by_year":[],"updated_date":"2026-06-12T06:20:11.936012","created_date":"2026-06-05T00:00:00"}