{"id":"https://openalex.org/W7168742241","doi":"https://doi.org/10.1109/med70602.2026.11598187","title":"Unified Stochastic Nonlinear MPC-Control Barrier Function Framework for Safe and Optimal Autonomous Vehicle Collision Avoidance","display_name":"Unified Stochastic Nonlinear MPC-Control Barrier Function Framework for Safe and Optimal Autonomous Vehicle Collision Avoidance","publication_year":2026,"publication_date":"2026-06-23","ids":{"openalex":"https://openalex.org/W7168742241","doi":"https://doi.org/10.1109/med70602.2026.11598187"},"language":null,"primary_location":{"id":"doi:10.1109/med70602.2026.11598187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med70602.2026.11598187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 34th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5141028802","display_name":"Heyi Muluneh Hailu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112756","display_name":"Centre Hospitalier de l'Agglom\u00e9ration de Nevers","ror":"https://ror.org/01k703c10","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210112756"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Heyi Muluneh Hailu","raw_affiliation_strings":["Université Bourgogne Europe,DRIVE UR 1859,Nevers,France,58027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Bourgogne Europe,DRIVE UR 1859,Nevers,France,58027","institution_ids":["https://openalex.org/I4210112756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091155689","display_name":"Salim Hima","orcid":"https://orcid.org/0000-0003-0372-0102"},"institutions":[{"id":"https://openalex.org/I4210094080","display_name":"ESME - \u00c9cole d\u2019ing\u00e9nieurs pluridisciplinaires","ror":"https://ror.org/00nf3nv81","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210094080"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Salim Hima","raw_affiliation_strings":["ESME-SUDRIA Engineering School,Department of Energy, Systems, and Environment,Ivry-sur-seine,France,94200"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ESME-SUDRIA Engineering School,Department of Energy, Systems, and Environment,Ivry-sur-seine,France,94200","institution_ids":["https://openalex.org/I4210094080"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5141023480","display_name":"Ahmed Chaibet","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094080","display_name":"ESME - \u00c9cole d\u2019ing\u00e9nieurs pluridisciplinaires","ror":"https://ror.org/00nf3nv81","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210094080"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Chaibet","raw_affiliation_strings":["ESME-SUDRIA Engineering School,Department of Energy, Systems, and Environment,Ivry-sur-seine,France,94200"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ESME-SUDRIA Engineering School,Department of Energy, Systems, and Environment,Ivry-sur-seine,France,94200","institution_ids":["https://openalex.org/I4210094080"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"201","last_page":"206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":null,"topics":[],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5673999786376953},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5205000042915344},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49970000982284546},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47360000014305115},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3677999973297119}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5673999786376953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5221999883651733},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49970000982284546},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47360000014305115},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3677999973297119},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30149999260902405},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2976999878883362},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28940001130104065},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2782999873161316},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2597000002861023}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med70602.2026.11598187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med70602.2026.11598187","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 34th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322774","display_name":"Universit\u00e9 de Bourgogne","ror":"https://ror.org/03k1bsr36"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1980569135","https://openalex.org/W2560504659","https://openalex.org/W2765395770","https://openalex.org/W2790176947","https://openalex.org/W2893731141","https://openalex.org/W2896642734","https://openalex.org/W2968945909","https://openalex.org/W3183652554","https://openalex.org/W3186317065","https://openalex.org/W4296231058","https://openalex.org/W4312170095","https://openalex.org/W4376456312","https://openalex.org/W4386634641","https://openalex.org/W4392347567","https://openalex.org/W4401109590","https://openalex.org/W4401155249","https://openalex.org/W4407949432","https://openalex.org/W4415180915"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2026-07-17T00:00:00"}