{"id":"https://openalex.org/W2963118121","doi":"https://doi.org/10.1109/tcst.2018.2828380","title":"Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder","display_name":"Robust Sequential Trajectory Planning Under Disturbances and Adversarial Intruder","publication_year":2018,"publication_date":"2018-05-08","ids":{"openalex":"https://openalex.org/W2963118121","doi":"https://doi.org/10.1109/tcst.2018.2828380","mag":"2963118121"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2018.2828380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2828380","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5100387244","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8506-3665"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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":"Mo Chen","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8506-3665","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059176959","display_name":"Somil Bansal","orcid":"https://orcid.org/0000-0002-5826-7686"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5826-7686","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050710435","display_name":"Jaime F. Fisac","orcid":"https://orcid.org/0000-0002-2676-5090"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaime F. Fisac","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2676-5090","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3192-3185","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6736,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.91099366,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"27","issue":"4","first_page":"1566","last_page":"1582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T12158","display_name":"Guidance and Control Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9947999715805054,"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/adversarial-system","display_name":"Adversarial system","score":0.8211215734481812},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7443568706512451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5180809497833252},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4211207628250122},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33458200097084045},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1276337206363678},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10157749056816101}],"concepts":[{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.8211215734481812},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7443568706512451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5180809497833252},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4211207628250122},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33458200097084045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1276337206363678},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10157749056816101},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2018.2828380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2018.2828380","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[{"id":"https://openalex.org/G233385737","display_name":null,"funder_award_id":"#N00014-16-1-2206","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4183124897","display_name":"CPS: Frontier: Collaborative Research: VeHICaL: Verified Human Interfaces, Control, and Learning for Semi-Autonomous Systems","funder_award_id":"1545126","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320312058","display_name":"\u201cla Caixa\u201d Foundation","ror":"https://ror.org/03zhx9h04"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W240029891","https://openalex.org/W1506012254","https://openalex.org/W1522199380","https://openalex.org/W1540305004","https://openalex.org/W1964345118","https://openalex.org/W1975236902","https://openalex.org/W1998452137","https://openalex.org/W1999244633","https://openalex.org/W2001331101","https://openalex.org/W2002440441","https://openalex.org/W2007193228","https://openalex.org/W2023473795","https://openalex.org/W2027664020","https://openalex.org/W2056549180","https://openalex.org/W2059357989","https://openalex.org/W2061469207","https://openalex.org/W2067265108","https://openalex.org/W2067461601","https://openalex.org/W2093834886","https://openalex.org/W2098418676","https://openalex.org/W2106816694","https://openalex.org/W2110073061","https://openalex.org/W2115807748","https://openalex.org/W2116364955","https://openalex.org/W2134707555","https://openalex.org/W2136207702","https://openalex.org/W2139132599","https://openalex.org/W2142271413","https://openalex.org/W2142943472","https://openalex.org/W2143361975","https://openalex.org/W2153012550","https://openalex.org/W2159745310","https://openalex.org/W2164775983","https://openalex.org/W2166462345","https://openalex.org/W2169742265","https://openalex.org/W2299601289","https://openalex.org/W2317713946","https://openalex.org/W2416561473","https://openalex.org/W2573311857","https://openalex.org/W2962888568","https://openalex.org/W2962896691","https://openalex.org/W2964040381","https://openalex.org/W4212781311","https://openalex.org/W6697550776"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2502115930","https://openalex.org/W2482350142","https://openalex.org/W4246396837","https://openalex.org/W3126451824","https://openalex.org/W1561927205","https://openalex.org/W3191453585","https://openalex.org/W4297672492"],"abstract_inverted_index":{"Provably":[0],"safe":[1],"and":[2,10,33,46,67,122,159,179,182],"scalable":[3],"multivehicle":[4,195],"trajectory":[5,140,196],"planning":[6,141,197],"is":[7,59],"an":[8,180],"important":[9],"urgent":[11],"problem.":[12],"Although":[13],"this":[14,110,138],"problem":[15,198],"has":[16,23,73],"been":[17,25,74],"studied":[18],"in":[19,85,148,205,213],"the":[20,51,60,99,116,124,149,164,189,194],"past,":[21],"there":[22,91],"not":[24],"a":[26,129,168,206],"method":[27],"that":[28,171],"guarantees":[29,117],"both":[30,177],"goal":[31,65],"satisfaction":[32,66],"safety":[34,68],"for":[35,63,176,186,199],"vehicles":[36,96,134,144,200],"with":[37,104,201],"general":[38,202],"nonlinear":[39,203],"dynamics,":[40],"while":[41],"taking":[42],"into":[43],"account":[44],"disturbances":[45,178],"potential":[47],"adversarial":[48],"agents,":[49],"to":[50,77,98,106,133],"best":[52],"of":[53,115,161],"our":[54,211],"knowledge.":[55],"Hamilton-Jacobi":[56],"(HJ)":[57],"reachability":[58,121],"ideal":[61],"tool":[62],"guaranteeing":[64],"under":[69,135],"such":[70],"scenarios,":[71],"which":[72],"successfully":[75],"applied":[76],"many":[78],"small-scale":[79],"problems;":[80],"however,":[81],"its":[82],"direct":[83],"application":[84],"most":[86],"cases":[87],"becomes":[88],"intractable":[89],"when":[90,174,184],"are":[92],"more":[93],"than":[94],"two":[95],"due":[97],"exponentially":[100],"scaling":[101],"computational":[102],"complexity":[103,170],"respect":[105],"system":[107],"dimension.":[108],"In":[109],"paper,":[111],"we":[112],"take":[113],"advantage":[114],"provided":[118],"by":[119,127],"HJ":[120],"eliminate":[123],"computation":[125,169],"burden":[126],"assigning":[128],"strict":[130],"priority":[131,165],"ordering":[132],"consideration.":[136],"Under":[137],"sequential":[139],"(STP)":[142],"scheme,":[143],"reserve":[145],"\u201cspace-time\u201d":[146],"portions":[147,153],"airspace.":[150],"The":[151],"space-time":[152],"guarantee":[154],"dynamic":[155],"feasibility,":[156],"collision":[157],"avoidance,":[158],"optimality":[160],"trajectories":[162],"given":[163],"ordering.":[166],"With":[167],"scales":[172],"quadratically":[173],"accounting":[175,185],"intruder,":[181],"linearly":[183],"only":[187],"disturbances,":[188],"STP":[190],"can":[191],"tractably":[192],"solve":[193],"dynamics":[204],"practical":[207],"setting.":[208],"We":[209],"demonstrate":[210],"theory":[212],"representative":[214],"simulations.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
