{"id":"https://openalex.org/W4405180695","doi":"https://doi.org/10.1109/tce.2024.3514203","title":"Uncertainty-Aware Path Planning With Multiple Constraints for Autonomous Vehicles Based on Nonlinear Reduced-Order Model Predictive Control","display_name":"Uncertainty-Aware Path Planning With Multiple Constraints for Autonomous Vehicles Based on Nonlinear Reduced-Order Model Predictive Control","publication_year":2024,"publication_date":"2024-12-09","ids":{"openalex":"https://openalex.org/W4405180695","doi":"https://doi.org/10.1109/tce.2024.3514203"},"language":"en","primary_location":{"id":"doi:10.1109/tce.2024.3514203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2024.3514203","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","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/A5115059837","display_name":"Mohammad Hossein Badiei","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Mohammad Hossein Badiei","raw_affiliation_strings":["School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran","College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0009-0000-4080-1927","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038793288","display_name":"Saeed Mohammadi Dashtaki","orcid":"https://orcid.org/0009-0009-8363-9486"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Saeed Mohammadi Dashtaki","raw_affiliation_strings":["School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran","College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":"https://orcid.org/0009-0009-8363-9486","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063466273","display_name":"Navid Vafamand","orcid":"https://orcid.org/0000-0002-1178-1063"},"institutions":[{"id":"https://openalex.org/I166459259","display_name":"Shiraz University","ror":"https://ror.org/028qtbk54","country_code":"IR","type":"education","lineage":["https://openalex.org/I166459259"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Navid Vafamand","raw_affiliation_strings":["Department of Power and Control Engineering, Shiraz University, Shiraz, Iran"],"raw_orcid":"https://orcid.org/0000-0002-1178-1063","affiliations":[{"raw_affiliation_string":"Department of Power and Control Engineering, Shiraz University, Shiraz, Iran","institution_ids":["https://openalex.org/I166459259"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047578139","display_name":"Md. Jalil Piran","orcid":"https://orcid.org/0000-0003-3229-6785"},"institutions":[{"id":"https://openalex.org/I28777354","display_name":"Sejong University","ror":"https://ror.org/00aft1q37","country_code":"KR","type":"education","lineage":["https://openalex.org/I28777354"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Md. Jalil Piran","raw_affiliation_strings":["Department of Computer Science and Engineering, Sejong University, Seoul, South Korea","Department of Computer Science and Engineering, Sejong University, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-3229-6785","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Sejong University, Seoul, South Korea","institution_ids":["https://openalex.org/I28777354"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Sejong University, South Korea","institution_ids":["https://openalex.org/I28777354"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5115059837"],"corresponding_institution_ids":["https://openalex.org/I23946033"],"apc_list":null,"apc_paid":null,"fwci":0.2381,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55361328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"71","issue":"2","first_page":"3802","last_page":"3816"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9950000047683716,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9948999881744385,"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/model-predictive-control","display_name":"Model predictive control","score":0.7256085276603699},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6248396039009094},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5925931334495544},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5892593860626221},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5633493661880493},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5154584050178528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4951705038547516},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44299745559692383},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44285014271736145},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33437249064445496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3247833251953125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2339629828929901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21050626039505005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17561453580856323}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7256085276603699},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6248396039009094},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5925931334495544},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5892593860626221},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5633493661880493},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5154584050178528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4951705038547516},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44299745559692383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44285014271736145},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33437249064445496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3247833251953125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2339629828929901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21050626039505005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17561453580856323},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2024.3514203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2024.3514203","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W2000205724","https://openalex.org/W2888152797","https://openalex.org/W2902861339","https://openalex.org/W2911767333","https://openalex.org/W2938278435","https://openalex.org/W2943779163","https://openalex.org/W3012099766","https://openalex.org/W3012148556","https://openalex.org/W3013679533","https://openalex.org/W3014495834","https://openalex.org/W3015635168","https://openalex.org/W3022187362","https://openalex.org/W3038231674","https://openalex.org/W3092929793","https://openalex.org/W3112257207","https://openalex.org/W3117366176","https://openalex.org/W3133505846","https://openalex.org/W3136741165","https://openalex.org/W3164205119","https://openalex.org/W3187330173","https://openalex.org/W3194185973","https://openalex.org/W3196832763","https://openalex.org/W3205762144","https://openalex.org/W3209459638","https://openalex.org/W4210804151","https://openalex.org/W4213449569","https://openalex.org/W4214657975","https://openalex.org/W4220704768","https://openalex.org/W4220840735","https://openalex.org/W4221129221","https://openalex.org/W4226474992","https://openalex.org/W4281796415","https://openalex.org/W4284958570","https://openalex.org/W4285272860","https://openalex.org/W4292066939","https://openalex.org/W4292986062","https://openalex.org/W4302293602","https://openalex.org/W4304480790","https://openalex.org/W4306777705","https://openalex.org/W4310130661","https://openalex.org/W4313479325","https://openalex.org/W4313887139","https://openalex.org/W4318250058","https://openalex.org/W4323639623","https://openalex.org/W4367839715","https://openalex.org/W4378696928","https://openalex.org/W4385486439","https://openalex.org/W4388286312","https://openalex.org/W4390423504","https://openalex.org/W4391309499","https://openalex.org/W4402569782","https://openalex.org/W6640190462"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W3083517787","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"In":[0,107],"this":[1],"paper,":[2],"we":[3,110],"present":[4],"a":[5,142],"Risk-Aware":[6],"Nonlinear":[7],"Reduced-Order":[8],"Model":[9],"Predictive":[10],"Control":[11],"framework":[12],"that":[13],"utilizes":[14],"real-time":[15],"state":[16,41],"estimation,":[17],"reduced-order":[18,60,143],"modeling,":[19],"and":[20,24,46,57,79,91,113,128,169,187,195],"optimization":[21],"for":[22,44,141],"reliable":[23],"efficient":[25],"path":[26],"planning":[27],"with":[28],"low":[29],"energy":[30],"consumption.":[31],"Our":[32,150],"method":[33,151],"employs":[34],"filtering":[35,89],"techniques":[36,90],"to":[37,76,119,171,180,185],"estimate":[38],"the":[39,54,67,71,108,117,123,136,160,197],"system\u2019s":[40],"by":[42],"correcting":[43],"process":[45,114],"measurement":[47],"noise,":[48],"providing":[49],"an":[50],"accurate":[51],"representation":[52],"of":[53,126],"vehicle\u2019s":[55],"position":[56],"environment.":[58],"A":[59],"model":[61],"predicts":[62],"future":[63],"states":[64],"based":[65],"on":[66],"estimated":[68],"input,":[69],"while":[70,100,164],"optimizer":[72],"adjusts":[73],"control":[74,103,139],"inputs":[75],"meet":[77],"trajectory":[78,167],"safety":[80],"constraints,":[81],"such":[82],"as":[83],"avoiding":[84,193],"obstacles.":[85],"By":[86],"incorporating":[87],"adapted":[88],"optimized":[92],"cost":[93],"functions,":[94],"our":[95],"approach":[96],"minimizes":[97],"computational":[98],"overhead":[99],"maintaining":[101,165],"precise":[102,124,166],"over":[104,153],"vehicle":[105],"navigation.":[106],"experiments,":[109],"introduce":[111],"communication":[112],"noises,":[115],"allowing":[116],"robot":[118],"operate":[120],"without":[121],"knowing":[122],"location":[125],"obstacles":[127],"resulting":[129],"in":[130,156,192],"potential":[131],"near-collisions.":[132],"This":[133],"involves":[134],"redefining":[135],"constrained":[137],"optimal":[138],"problem":[140],"model,":[144],"addressing":[145],"input":[146],"constraints":[147],"amidst":[148],"uncertainties.":[149],"achieves":[152],"94%":[154],"success":[155],"collision-free":[157],"navigation":[158],"within":[159],"first":[161],"50":[162],"steps,":[163],"alignment":[168],"adapting":[170],"environmental":[172],"changes.":[173],"It":[174],"also":[175],"improves":[176],"prediction":[177],"speed":[178],"up":[179],"15%":[181],"per":[182],"cycle":[183],"compared":[184],"NMPC":[186],"demonstrates":[188],"91%":[189],"overall":[190],"effectiveness":[191],"collisions":[194],"reaching":[196],"target.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
