{"id":"https://openalex.org/W2118637732","doi":"https://doi.org/10.1109/robot.2010.5509562","title":"A probabilistic approach to mixed open-loop and closed-loop control, with application to extreme autonomous driving","display_name":"A probabilistic approach to mixed open-loop and closed-loop control, with application to extreme autonomous driving","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2118637732","doi":"https://doi.org/10.1109/robot.2010.5509562","mag":"2118637732"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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/A5075035644","display_name":"J. Zico Kolter","orcid":"https://orcid.org/0000-0002-8106-5759"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J Zico Kolter","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department, Stanford University, CA 94305 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, CA 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084071835","display_name":"Christian Plagemann","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Plagemann","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department, Stanford University, CA 94305 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, CA 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000330764","display_name":"David T Jackson","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David T Jackson","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department, Stanford University, CA 94305 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, CA 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112456378","display_name":"Andrew Y. Ng","orcid":"https://orcid.org/0000-0001-5547-3196"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Y Ng","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department, Stanford University, CA 94305 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, CA 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066710774","display_name":"Sebastian Thrun","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Thrun","raw_affiliation_strings":["Computer Science Department, University of Stanford, Stanford, CA, USA","Computer Science Department, Stanford University, CA 94305 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Computer Science Department, Stanford University, CA 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":7.3472,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.9704725,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"839","last_page":"845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9988999962806702,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.996399998664856,"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/T11236","display_name":"Control Systems and Identification","score":0.9962000250816345,"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/computer-science","display_name":"Computer science","score":0.7122546434402466},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6630683541297913},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.623008668422699},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5477525591850281},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.48938220739364624},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4699939489364624},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44277510046958923},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43411219120025635},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42034003138542175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3702758848667145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36178654432296753},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.29916679859161377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20196780562400818}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122546434402466},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6630683541297913},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.623008668422699},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5477525591850281},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.48938220739364624},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4699939489364624},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44277510046958923},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43411219120025635},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42034003138542175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3702758848667145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36178654432296753},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.29916679859161377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20196780562400818},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2010.5509562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.205.8816","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.205.8816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotics.stanford.edu/%7Eang/papers/icra10-ExtremeAutonomousDriving.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.299.6313","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.299.6313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.stanford.edu/~plagem/bib/kolter10icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W177930832","https://openalex.org/W1522531528","https://openalex.org/W1530730921","https://openalex.org/W1597173708","https://openalex.org/W1746819321","https://openalex.org/W1976606095","https://openalex.org/W2109944946","https://openalex.org/W2111367974","https://openalex.org/W2116039916","https://openalex.org/W2117629901","https://openalex.org/W2124770562","https://openalex.org/W2128259081","https://openalex.org/W2132602063","https://openalex.org/W2135043890","https://openalex.org/W2144515675","https://openalex.org/W2161264974","https://openalex.org/W2162137442","https://openalex.org/W2162717641","https://openalex.org/W2168342951","https://openalex.org/W2232371917","https://openalex.org/W2912695340","https://openalex.org/W4211049957","https://openalex.org/W4392750738","https://openalex.org/W6676444349","https://openalex.org/W6683735925","https://openalex.org/W6683782062"],"related_works":["https://openalex.org/W2364252372","https://openalex.org/W4234066492","https://openalex.org/W1998063895","https://openalex.org/W1967044713","https://openalex.org/W2133470120","https://openalex.org/W1994286895","https://openalex.org/W2747625183","https://openalex.org/W2080622457","https://openalex.org/W1970592395","https://openalex.org/W2360530244"],"abstract_inverted_index":{"We":[0,139],"consider":[1],"the":[2,33,36,74,81,96,103,117,122,125,131,135,144,163,166,173,177,184,187],"task":[3,145],"of":[4,24,35,54,95,102,146,172,179,186,191],"accurately":[5,109,161,192],"controlling":[6,193],"a":[7,14,18,66,100,151,194,198],"complex":[8,127],"system,":[9,164],"such":[10,45,197],"as":[11],"autonomously":[12],"sliding":[13,149],"car":[15,37,167],"sideways":[16,148],"into":[17,150],"parking":[19,152],"spot.":[20],"Although":[21],"certain":[22],"regions":[23,76,128],"this":[25,62,182],"domain":[26],"are":[27,47],"extremely":[28],"hard":[29],"to":[30,119,133,143,176],"model":[31,94,121],"(i.e.,":[32],"dynamics":[34,123],"while":[38],"skidding),":[39],"we":[40,64,86,157],"observe":[41],"that":[42,88,156],"in":[43,57,73,80,124,189,196],"practice":[44],"systems":[46],"often":[48],"remarkably":[49],"deterministic":[50],"over":[51],"short":[52],"periods":[53],"time,":[55],"even":[56],"difficult-to-model":[58,82],"regions.":[59,83],"Motivated":[60],"by":[61,89],"intuition,":[63],"develop":[65],"probabilistic":[67],"method":[68],"for":[69],"combining":[70,90],"closed-loop":[71],"control":[72,79,112,137,162],"well-modeled":[75],"and":[77,98,110,129,154,160],"open-loop":[78],"In":[84],"particular,":[85],"show":[87,155],"1)":[91],"an":[92],"inaccurate":[93],"system":[97],"2)":[99],"demonstration":[101],"desired":[104,174],"behavior,":[105],"our":[106,141,180],"approach":[107,142],"can":[108,158],"robustly":[111],"highly":[113],"challenging":[114],"systems,":[115],"without":[116,130],"need":[118,132],"explicitly":[120],"most":[126],"hand-tune":[134],"switching":[136],"law.":[138],"apply":[140],"autonomous":[147],"spot,":[153],"repeatedly":[159],"placing":[165],"within":[168],"about":[169],"2":[170],"feet":[171],"location;":[175],"best":[178],"knowledge,":[181],"represents":[183],"state":[185],"art":[188],"terms":[190],"vehicle":[195],"maneuver.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
