{"id":"https://openalex.org/W1556508276","doi":"https://doi.org/10.1109/med.2015.7158776","title":"Two and a half carrots - a versatile and intuitive optimisation-based path-following approach for road vehicles","display_name":"Two and a half carrots - a versatile and intuitive optimisation-based path-following approach for road vehicles","publication_year":2015,"publication_date":"2015-06-01","ids":{"openalex":"https://openalex.org/W1556508276","doi":"https://doi.org/10.1109/med.2015.7158776","mag":"1556508276"},"language":"en","primary_location":{"id":"doi:10.1109/med.2015.7158776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2015.7158776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","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/A5067914478","display_name":"Matthias Reiter","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Reiter","raw_affiliation_strings":["Matthias Reiter pursues his PHD Degree at the Institute of Automatic Control of RWTH Aachen University, Aachen, Germany","Institute of Automatic, Control of RWTH Aachen University, 52074, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Matthias Reiter pursues his PHD Degree at the Institute of Automatic Control of RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic, Control of RWTH Aachen University, 52074, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Dirk Abel Reiter heads the Institute of Automatic Control of RWTH Aachen University, Aachen, Germany","Institute of Automatic, Control of RWTH Aachen University, 52074, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dirk Abel Reiter heads the Institute of Automatic Control of RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic, Control of RWTH Aachen University, 52074, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5974,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.85237816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"364","last_page":"370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9957000017166138,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9894999861717224,"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/control-theory","display_name":"Control theory (sociology)","score":0.7364933490753174},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7324373126029968},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6881060600280762},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6724795699119568},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5841342210769653},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5679805874824524},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5198652744293213},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5084063410758972},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36777836084365845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33844172954559326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28136688470840454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12215131521224976}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7364933490753174},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7324373126029968},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6881060600280762},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6724795699119568},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5841342210769653},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5679805874824524},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5198652744293213},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5084063410758972},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36777836084365845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33844172954559326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28136688470840454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12215131521224976},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med.2015.7158776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med.2015.7158776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:679607","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/search?p=id:%22RWTH-2016-11298%22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Piscataway, NJ : IEEE 364-370 (2015). doi:10.1109/MED.2015.7158776","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W593476972","https://openalex.org/W1985772979","https://openalex.org/W2028983002","https://openalex.org/W2062774246","https://openalex.org/W2120179083","https://openalex.org/W2133826865","https://openalex.org/W2160897436","https://openalex.org/W4236071179","https://openalex.org/W6665889483","https://openalex.org/W6678081342","https://openalex.org/W7048690537"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2361092061","https://openalex.org/W2319775965","https://openalex.org/W2357314690","https://openalex.org/W2191886813","https://openalex.org/W2163394011","https://openalex.org/W2795976185","https://openalex.org/W192619126","https://openalex.org/W4285225561"],"abstract_inverted_index":{"An":[0],"optimization-based":[1],"path-following":[2],"control":[3,8],"scheme":[4],"for":[5,61],"the":[6,33,36,42,65,69,90,96,105,130,134],"lateral":[7,164],"of":[9,35,44,64,133,147],"a":[10,19,30,45,74,113,144,177,188],"nonholonomous":[11],"vehicle":[12,190],"is":[13,16,27,38,71,115,154,174,185],"proposed.":[14],"It":[15],"formulated":[17],"as":[18,52,54,68,143],"nonlinear":[20,75],"model":[21,189],"predictive":[22],"controller.":[23,66],"The":[24,137,171],"penalty":[25],"function":[26],"chosen":[28],"in":[29,89,110,123,181],"way":[31],"that":[32,93],"result":[34],"optimization":[37],"conceptually":[39],"similar":[40],"to":[41,102,117,129,176],"output":[43],"traditional":[46],"\u201cFollow-the-Carrot\u201d":[47],"or":[48],"\u201cPure":[49,178],"Pursuit\u201d":[50,179],"approach":[51],"long":[53],"no":[55,150],"constraints":[56],"are":[57,157,169,194],"active.":[58],"This":[59,121],"allows":[60],"intuitive":[62],"tuning":[63],"However,":[67],"controller":[70,106,173,180],"based":[72],"on":[73,187],"path":[76,92,139,152],"prediction":[77],"over":[78],"several":[79],"actuation":[80,97,161],"steps,":[81],"it":[82,184],"can":[83,107,140],"also":[84],"anticipate":[85],"e.g.":[86],"sharp":[87],"turns":[88],"upcoming":[91],"will":[94],"cause":[95],"variable":[98],"(the":[99],"steering":[100,167],"angle)":[101,168],"saturate.":[103],"Therefore,":[104],"react":[108],"earlier":[109],"case":[111],"such":[112],"constraint":[114],"predicted":[116],"be":[118,141],"run":[119],"into.":[120],"results":[122,193],"very":[124],"robust":[125],"behavior":[126],"with":[127],"respect":[128],"smoothness":[131],"(drivability)":[132],"reference":[135,138],"path.":[136],"given":[142],"simple":[145],"list":[146],"2D":[148],"coordinates,":[149],"explicit":[151],"planning":[153],"necessary.":[155],"Advantages":[156],"seen":[158],"especially":[159],"when":[160],"limits":[162],"(admissible":[163],"acceleration,":[165],"maximum":[166],"reached.":[170],"proposed":[172],"compared":[175],"simulation.":[182],"Then,":[183],"implemented":[186],"and":[191],"experimental":[192],"presented.":[195]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
