{"id":"https://openalex.org/W4385299572","doi":"https://doi.org/10.1109/tcst.2023.3291562","title":"Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments","display_name":"Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments","publication_year":2023,"publication_date":"2023-07-27","ids":{"openalex":"https://openalex.org/W4385299572","doi":"https://doi.org/10.1109/tcst.2023.3291562"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3291562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3291562","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/A5044865595","display_name":"Ivo Batkovic","orcid":"https://orcid.org/0000-0002-2989-2319"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Ivo Batkovic","raw_affiliation_strings":["Department of Electrical Engineering, Mechatronics Group, Chalmers University of Technology, Gothenburg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Mechatronics Group, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001183875","display_name":"Ankit Gupta","orcid":"https://orcid.org/0000-0002-5628-3623"},"institutions":[{"id":"https://openalex.org/I4210086940","display_name":"Zenuity (Sweden)","ror":"https://ror.org/000dpyn16","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086940"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ankit Gupta","raw_affiliation_strings":["Research Department, Zenseact AB, Gothenburg, Sweden"],"affiliations":[{"raw_affiliation_string":"Research Department, Zenseact AB, Gothenburg, Sweden","institution_ids":["https://openalex.org/I4210086940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106707940","display_name":"Mario Zanon","orcid":"https://orcid.org/0000-0001-5925-0440"},"institutions":[{"id":"https://openalex.org/I127077003","display_name":"IMT School for Advanced Studies Lucca","ror":"https://ror.org/035gh3a49","country_code":"IT","type":"education","lineage":["https://openalex.org/I127077003"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Zanon","raw_affiliation_strings":["IMT School for Advanced Studies Lucca, Lucca, Italy"],"affiliations":[{"raw_affiliation_string":"IMT School for Advanced Studies Lucca, Lucca, Italy","institution_ids":["https://openalex.org/I127077003"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019767300","display_name":"Paolo Falcone","orcid":"https://orcid.org/0000-0001-9587-9924"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Paolo Falcone","raw_affiliation_strings":["Department of Electrical Engineering, Mechatronics Group, Chalmers University of Technology, Gothenburg, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Mechatronics Group, Chalmers University of Technology, Gothenburg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044865595"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":5.6344,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.96649767,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"31","issue":"5","first_page":"2027","last_page":"2042"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T11236","display_name":"Control Systems and Identification","score":0.9933000206947327,"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":0.9926000237464905,"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/software-deployment","display_name":"Software deployment","score":0.7401101589202881},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7107188701629639},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7051808834075928},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5864300727844238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5396379232406616},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5368872880935669},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45812687277793884},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3924259543418884},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3755888342857361},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.364454984664917},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2628074586391449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1213739812374115}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7401101589202881},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7107188701629639},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7051808834075928},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5864300727844238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5396379232406616},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5368872880935669},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45812687277793884},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3924259543418884},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3755888342857361},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.364454984664917},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2628074586391449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1213739812374115},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2023.3291562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3291562","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:research.chalmers.se:536925","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/536925","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1524886571","https://openalex.org/W1631623342","https://openalex.org/W1880805667","https://openalex.org/W1999913571","https://openalex.org/W2028790617","https://openalex.org/W2031219607","https://openalex.org/W2032924574","https://openalex.org/W2036748716","https://openalex.org/W2049670620","https://openalex.org/W2095233962","https://openalex.org/W2523760000","https://openalex.org/W2536620281","https://openalex.org/W2562275027","https://openalex.org/W2576603228","https://openalex.org/W2581145181","https://openalex.org/W2606365885","https://openalex.org/W2735803068","https://openalex.org/W2736502650","https://openalex.org/W2749680651","https://openalex.org/W2750147881","https://openalex.org/W2782695576","https://openalex.org/W2796769611","https://openalex.org/W2885446638","https://openalex.org/W2890685830","https://openalex.org/W2895639295","https://openalex.org/W2912243751","https://openalex.org/W2923817898","https://openalex.org/W2930359834","https://openalex.org/W2936698298","https://openalex.org/W2952366389","https://openalex.org/W2962797726","https://openalex.org/W2963683522","https://openalex.org/W2967952682","https://openalex.org/W2972896277","https://openalex.org/W2991275856","https://openalex.org/W3045305802","https://openalex.org/W3047545417","https://openalex.org/W3065468121","https://openalex.org/W3130676412","https://openalex.org/W3155272911","https://openalex.org/W3158413423","https://openalex.org/W3199113962","https://openalex.org/W3200913209","https://openalex.org/W3207305612","https://openalex.org/W3209915075","https://openalex.org/W3210839039","https://openalex.org/W4296425769","https://openalex.org/W4315472002","https://openalex.org/W6743558609","https://openalex.org/W6761802382","https://openalex.org/W6769695173","https://openalex.org/W6791557878","https://openalex.org/W6801393510","https://openalex.org/W6801468742","https://openalex.org/W6803523906","https://openalex.org/W6842740986"],"related_works":["https://openalex.org/W96612179","https://openalex.org/W2770234245","https://openalex.org/W2987774938","https://openalex.org/W2566006169","https://openalex.org/W4256492088","https://openalex.org/W632915154","https://openalex.org/W4229499248","https://openalex.org/W4378874356","https://openalex.org/W128654086","https://openalex.org/W2145006118"],"abstract_inverted_index":{"The":[0],"full":[1],"deployment":[2],"of":[3,96,112],"autonomous":[4],"driving":[5,87],"systems":[6],"on":[7,46],"a":[8,20,43,83,118],"worldwide":[9],"scale":[10],"requires":[11],"that":[12,51],"the":[13,25,53,57,73,91,110],"self-driving":[14,54],"vehicle":[15,26,55],"can":[16],"be":[17,28],"operated":[18],"in":[19,33,82,115],"provably":[21],"safe":[22,84],"manner,":[23],"i.e.,":[24],"must":[27],"able":[29],"to":[30],"avoid":[31],"collisions":[32],"any":[34],"possible":[35],"traffic":[36],"situation.":[37],"In":[38,61],"this":[39],"article,":[40],"we":[41,99,108],"propose":[42],"framework":[44,64,114],"based":[45],"model":[47],"predictive":[48],"control":[49],"(MPC)":[50],"endows":[52],"with":[56,117],"necessary":[58],"safety":[59],"guarantees.":[60],"particular,":[62],"our":[63,97,113],"ensures":[65],"constraint":[66],"satisfaction":[67],"at":[68],"all":[69],"times":[70],"while":[71],"tracking":[72],"reference":[74],"trajectory":[75],"as":[76,78],"close":[77],"obstacles":[79],"allow,":[80],"resulting":[81],"and":[85,93,106],"comfortable":[86],"behavior.":[88],"To":[89],"discuss":[90],"performance":[92],"real-time":[94],"capability":[95],"framework,":[98],"provide":[100],"first":[101],"an":[102],"illustrative":[103],"simulation":[104],"example,":[105],"then,":[107],"demonstrate":[109],"effectiveness":[111],"experiments":[116],"real":[119],"test":[120],"vehicle.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
