{"id":"https://openalex.org/W4407691655","doi":"https://doi.org/10.1109/tac.2025.3543293","title":"Toward Fast and Safety-Guaranteed Trajectory Planning and Tracking for Time-Varying Systems","display_name":"Toward Fast and Safety-Guaranteed Trajectory Planning and Tracking for Time-Varying Systems","publication_year":2025,"publication_date":"2025-02-18","ids":{"openalex":"https://openalex.org/W4407691655","doi":"https://doi.org/10.1109/tac.2025.3543293"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3543293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3543293","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","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/A5066012429","display_name":"Seth Siriya","orcid":"https://orcid.org/0000-0002-8212-0975"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]},{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU","DE"],"is_corresponding":false,"raw_author_name":"Seth Siriya","raw_affiliation_strings":["Institute of Automatic Control, Leibniz University Hannover, Hannover, Germany","Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8212-0975","affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, Leibniz University Hannover, Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387244","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8506-3665"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mo Chen","raw_affiliation_strings":["School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","School of Computing Science, Simon Fraser University, Burnaby, Canada"],"raw_orcid":"https://orcid.org/0000-0001-8506-3665","affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]},{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047225984","display_name":"Ye Pu","orcid":"https://orcid.org/0000-0001-5924-0859"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ye Pu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, VIC, Australia","Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5924-0859","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, Australia","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5311,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80488961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"70","issue":"8","first_page":"5317","last_page":"5332"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10142","display_name":"Formal Methods in Verification","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7675731182098389},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5397855043411255},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5043450593948364},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5021133422851562},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40394291281700134},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29695063829421997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26671528816223145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12748372554779053}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7675731182098389},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5397855043411255},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5043450593948364},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5021133422851562},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40394291281700134},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29695063829421997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26671528816223145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12748372554779053},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2025.3543293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3543293","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W240029891","https://openalex.org/W1582899597","https://openalex.org/W1833024299","https://openalex.org/W1975236902","https://openalex.org/W2066425650","https://openalex.org/W2116364955","https://openalex.org/W2123871098","https://openalex.org/W2291867183","https://openalex.org/W2604410735","https://openalex.org/W2962683513","https://openalex.org/W2962822210","https://openalex.org/W2963606896","https://openalex.org/W3012288983","https://openalex.org/W3015470607","https://openalex.org/W3023466262","https://openalex.org/W3045676776","https://openalex.org/W3047315109","https://openalex.org/W3047375952","https://openalex.org/W3081975785","https://openalex.org/W3119949940","https://openalex.org/W3131580247","https://openalex.org/W4210591182","https://openalex.org/W4210687899","https://openalex.org/W4223989243","https://openalex.org/W4280539782","https://openalex.org/W4292249799","https://openalex.org/W4384786996","https://openalex.org/W6809713462"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402"],"abstract_inverted_index":{"When":[0],"deploying":[1],"autonomous":[2,135],"systems":[3,109],"in":[4,27,35,56],"unknown":[5],"and":[6,16,22,52],"changing":[7],"environments,":[8],"it":[9],"is":[10,91,104],"critical":[11],"that":[12,85,90],"their":[13],"motion":[14],"planning":[15],"control":[17],"algorithms":[18,128],"are":[19],"computationally":[20],"efficient":[21],"can":[23],"be":[24],"reapplied":[25],"online":[26],"real":[28],"time,":[29],"while":[30],"providing":[31],"theoretical":[32],"safety":[33,73],"guarantees":[34],"the":[36,63,118],"presence":[37],"of":[38,42,133],"disturbances.":[39,141],"The":[40,99],"satisfaction":[41],"these":[43,67],"objectives":[44],"becomes":[45],"more":[46],"challenging":[47],"when":[48],"considering":[49],"time-varying":[50,108],"dynamics":[51],"disturbances,":[53],"which":[54],"arise":[55],"real-world":[57],"contexts.":[58],"We":[59,125],"develop":[60],"methods":[61],"with":[62],"potential":[64],"to":[65,80,139],"address":[66],"issues":[68],"by":[69],"applying":[70],"an":[71,134],"offline-computed":[72],"guaranteeing":[74],"controller":[75],"on":[76,129],"a":[77,82,88,111,130],"physical":[78],"system,":[79],"track":[81],"virtual":[83],"system":[84],"evolves":[86],"through":[87],"trajectory":[89],"replanned":[92],"online,":[93],"accounting":[94],"for":[95,106,122],"constraints":[96],"updated":[97],"online.":[98],"first":[100],"method":[101,116],"we":[102],"propose":[103],"designed":[105],"general":[107],"over":[110],"finite":[112,119],"horizon.":[113],"Our":[114],"second":[115],"overcomes":[117],"horizon":[120],"restriction":[121],"periodic":[123],"systems.":[124],"simulate":[126],"our":[127],"case":[131],"study":[132],"underwater":[136],"vehicle":[137],"subject":[138],"wave":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-02-19T00:00:00"}