{"id":"https://openalex.org/W3211856395","doi":"https://doi.org/10.1109/tcst.2021.3122287","title":"Any-Time Feasible Coordination for Multivehicle Systems","display_name":"Any-Time Feasible Coordination for Multivehicle Systems","publication_year":2021,"publication_date":"2021-11-11","ids":{"openalex":"https://openalex.org/W3211856395","doi":"https://doi.org/10.1109/tcst.2021.3122287","mag":"3211856395"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2021.3122287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3122287","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":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1633781","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036264938","display_name":"Maximilian Kneissl","orcid":"https://orcid.org/0000-0002-7207-4928"},"institutions":[{"id":"https://openalex.org/I4210162709","display_name":"Denso (Germany)","ror":"https://ror.org/05xtrfa17","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I4210162709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Kneissl","raw_affiliation_strings":["Department of Corporate Research and Development, DENSO Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7207-4928","affiliations":[{"raw_affiliation_string":"Department of Corporate Research and Development, DENSO Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I4210162709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000191823","display_name":"Adam Molin","orcid":"https://orcid.org/0000-0003-2703-0288"},"institutions":[{"id":"https://openalex.org/I4210162709","display_name":"Denso (Germany)","ror":"https://ror.org/05xtrfa17","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I4210162709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Adam Molin","raw_affiliation_strings":["Department of Corporate Research and Development, DENSO Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Corporate Research and Development, DENSO Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I4210162709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074267235","display_name":"Hasan Esen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162709","display_name":"Denso (Germany)","ror":"https://ror.org/05xtrfa17","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I4210162709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hasan Esen","raw_affiliation_strings":["Department of Corporate Research and Development, DENSO Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Corporate Research and Development, DENSO Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I4210162709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Institute for Information-Oriented Control, Technische Universität München, München, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7819-5926","affiliations":[{"raw_affiliation_string":"Institute for Information-Oriented Control, Technische Universität München, München, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16455404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":"5","first_page":"1807","last_page":"1820"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"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":0.9968000054359436,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9952999949455261,"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/intersection","display_name":"Intersection (aeronautics)","score":0.6112056374549866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6090101599693298},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5735582709312439},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5730926394462585},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5152826309204102},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.4568411409854889},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43865180015563965},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4369300901889801},{"id":"https://openalex.org/keywords/lagrangian-relaxation","display_name":"Lagrangian relaxation","score":0.425637423992157},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.33414074778556824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18235129117965698},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17154693603515625}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6112056374549866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6090101599693298},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5735582709312439},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5730926394462585},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5152826309204102},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.4568411409854889},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43865180015563965},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4369300901889801},{"id":"https://openalex.org/C91765299","wikidata":"https://www.wikidata.org/wiki/Q3424292","display_name":"Lagrangian relaxation","level":2,"score":0.425637423992157},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33414074778556824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18235129117965698},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17154693603515625},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2021.3122287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2021.3122287","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"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1633781","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1633781","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1633781","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1633781","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1572804421","https://openalex.org/W1603765807","https://openalex.org/W1964703036","https://openalex.org/W1972022192","https://openalex.org/W1995286048","https://openalex.org/W2007164115","https://openalex.org/W2007509686","https://openalex.org/W2028790617","https://openalex.org/W2031219607","https://openalex.org/W2039836203","https://openalex.org/W2071595403","https://openalex.org/W2137514195","https://openalex.org/W2139264545","https://openalex.org/W2144132844","https://openalex.org/W2162080181","https://openalex.org/W2240003275","https://openalex.org/W2256473988","https://openalex.org/W2284958039","https://openalex.org/W2293480436","https://openalex.org/W2301927045","https://openalex.org/W2502655619","https://openalex.org/W2509583637","https://openalex.org/W2517688734","https://openalex.org/W2568579311","https://openalex.org/W2594674105","https://openalex.org/W2765221342","https://openalex.org/W2804902740","https://openalex.org/W2895283626","https://openalex.org/W2903212089","https://openalex.org/W2930359834","https://openalex.org/W2963125851","https://openalex.org/W2967398542","https://openalex.org/W3008278121","https://openalex.org/W3010760670","https://openalex.org/W3011021787","https://openalex.org/W3024382705","https://openalex.org/W3045967066","https://openalex.org/W3098567417","https://openalex.org/W3101102436","https://openalex.org/W3154025231","https://openalex.org/W4212997115","https://openalex.org/W4297781990","https://openalex.org/W6634104297","https://openalex.org/W6743333067"],"related_works":["https://openalex.org/W2002102264","https://openalex.org/W4237964977","https://openalex.org/W2155100848","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W626552678","https://openalex.org/W3005999311","https://openalex.org/W607781325","https://openalex.org/W3042530408","https://openalex.org/W2120267624"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,25,49,62,88,126,190],"distributed":[4,63,79,158],"control":[5,28],"methodology":[6],"for":[7,68,114,142],"the":[8,33,55,75,78,101,106,119,122,136,157,176],"coordination":[9],"of":[10,77,121,170],"multiple":[11],"connected":[12],"and":[13,31,179,189],"automated":[14],"vehicles":[15],"(CAVs).":[16],"Each":[17],"vehicle":[18,69],"computes":[19],"its":[20,181],"local":[21],"trajectory":[22],"based":[23],"on":[24],"model":[26],"predictive":[27],"(MPC)":[29],"law":[30],"communicates":[32],"result":[34],"with":[35,185],"other":[36],"relevant":[37],"vehicles.":[38],"In":[39],"an":[40,150,171],"iterative":[41],"negotiation":[42],"process,":[43],"planned":[44],"trajectories":[45],"are":[46],"optimized":[47],"within":[48],"sampling":[50],"time":[51],"step.":[52],"Inspired":[53],"by":[54],"Jacobi":[56,64],"over-relaxation":[57,65],"(JOR)":[58],"algorithm,":[59],"we":[60],"develop":[61],"algorithm":[66,73,102,112],"(DJOR)":[67],"coordination.":[70],"The":[71,110],"modified":[72],"exploits":[74],"structure":[76],"problem":[80,160],"setting":[81],"in":[82,87,118,164,183],"which":[83],"coupling":[84],"occurs":[85],"only":[86],"bilateral":[89],"way.":[90],"Besides":[91],"being":[92],"able":[93],"to":[94],"guarantee":[95,139],"any-time":[96],"feasibility":[97],"that":[98,156],"implies":[99],"collision-freeness,":[100],"scales":[103],"well,":[104],"unlike":[105],"standard":[107,186],"JOR":[108],"algorithm.":[109],"DJOR":[111],"allows":[113],"significantly":[115],"less":[116],"conservatism":[117],"choice":[120],"update":[123],"weightings.":[124],"As":[125],"result,":[127],"much":[128],"faster":[129],"convergence":[130],"rates":[131],"can":[132],"be":[133],"expected.":[134],"Furthermore,":[135],"collision":[137],"avoidance":[138],"is":[140],"extended":[141],"unforeseen":[143,166],"scenarios":[144],"such":[145],"as":[146],"emergency":[147],"braking.":[148],"Using":[149],"exact":[151],"penalty":[152],"function":[153],"formulation":[154],"ensures":[155],"optimization":[159],"remains":[161],"feasible":[162],"even":[163],"previously":[165],"cases.":[167],"Numerical":[168],"simulations":[169],"intersection":[172],"crossing":[173],"scenario":[174],"illustrate":[175],"presented":[177],"approach":[178],"show":[180],"benefits":[182],"comparison":[184],"traffic":[187],"rules":[188],"centralized":[191],"computation.":[192]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}