{"id":"https://openalex.org/W4396945302","doi":"https://doi.org/10.1109/tcst.2024.3400571","title":"Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning","display_name":"Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning","publication_year":2024,"publication_date":"2024-06-06","ids":{"openalex":"https://openalex.org/W4396945302","doi":"https://doi.org/10.1109/tcst.2024.3400571"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3400571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3400571","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2405.08122","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017656696","display_name":"Rudolf Reiter","orcid":"https://orcid.org/0009-0007-7635-2132"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Rudolf Reiter","raw_affiliation_strings":["Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany","Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071606836","display_name":"Rien Quirynen","orcid":"https://orcid.org/0000-0003-4330-2896"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Rien Quirynen","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA","Unversity of Freiburg, 79110 Freiburg i. B., Germany"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Unversity of Freiburg, 79110 Freiburg i. B., Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["Department of Microsystems Engineering (IMTEK) and the Department of Mathematics, University of Freiburg, Freiburg, Germany","Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK) and the Department of Mathematics, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004144091","display_name":"Stefano Di Cairano","orcid":"https://orcid.org/0000-0002-2363-2807"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Stefano Di Cairano","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, MA, USA","Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA","Unversity of Freiburg, 79110 Freiburg i. B., Germany"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Cairano are with Mitsubishi Electric Research Lab-oratories, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Unversity of Freiburg, 79110 Freiburg i. B., Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017656696"],"corresponding_institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210159266"],"apc_list":null,"apc_paid":null,"fwci":1.6349,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82282323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"33","issue":"4","first_page":"1270","last_page":"1284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9980000257492065,"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/equivariant-map","display_name":"Equivariant map","score":0.6764781475067139},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.6022361516952515},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.5292999744415283},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5036789774894714},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49404552578926086},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.492648184299469},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4610196352005005},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4510875344276428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4215902090072632},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4211497902870178},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3892161548137665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35122916102409363}],"concepts":[{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.6764781475067139},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.6022361516952515},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.5292999744415283},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5036789774894714},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49404552578926086},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.492648184299469},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4610196352005005},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4510875344276428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4215902090072632},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4211497902870178},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3892161548137665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35122916102409363},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcst.2024.3400571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3400571","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:arXiv.org:2405.08122","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.08122","pdf_url":"https://arxiv.org/pdf/2405.08122","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:freidok.uni-freiburg.de:258303","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/258303","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE transactions on control systems technology. - 33, 4 (2025) , 1270-1284, ISSN: 1558-0865","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2405.08122","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.08122","pdf_url":"https://arxiv.org/pdf/2405.08122","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1990257766","display_name":null,"funder_award_id":"ELO-X 953348","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4396945302.pdf"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W341403209","https://openalex.org/W1424654272","https://openalex.org/W1522301498","https://openalex.org/W1568248713","https://openalex.org/W2005996430","https://openalex.org/W2042106485","https://openalex.org/W2049670620","https://openalex.org/W2089122170","https://openalex.org/W2128990851","https://openalex.org/W2135293965","https://openalex.org/W2158441306","https://openalex.org/W2243721295","https://openalex.org/W2294538342","https://openalex.org/W2343568200","https://openalex.org/W2517622066","https://openalex.org/W2523760000","https://openalex.org/W2740508249","https://openalex.org/W2783583279","https://openalex.org/W2792919579","https://openalex.org/W2793753444","https://openalex.org/W2797923482","https://openalex.org/W2842089854","https://openalex.org/W2885813633","https://openalex.org/W2886034533","https://openalex.org/W2903709398","https://openalex.org/W2946231253","https://openalex.org/W2953880153","https://openalex.org/W2964007901","https://openalex.org/W2964170993","https://openalex.org/W2968192014","https://openalex.org/W2999803837","https://openalex.org/W3009083801","https://openalex.org/W3013348040","https://openalex.org/W3014476692","https://openalex.org/W3042645139","https://openalex.org/W3090027660","https://openalex.org/W3102797050","https://openalex.org/W3105834261","https://openalex.org/W3115696625","https://openalex.org/W3120921016","https://openalex.org/W3136999308","https://openalex.org/W3155272911","https://openalex.org/W3181376804","https://openalex.org/W3189825284","https://openalex.org/W3195968524","https://openalex.org/W3201650489","https://openalex.org/W3207305612","https://openalex.org/W4205287281","https://openalex.org/W4205727321","https://openalex.org/W4205898582","https://openalex.org/W4226371468","https://openalex.org/W4283797864","https://openalex.org/W4287549149","https://openalex.org/W4297825594","https://openalex.org/W4301014524","https://openalex.org/W4312745495","https://openalex.org/W4380451012","https://openalex.org/W4382936452","https://openalex.org/W4385245566","https://openalex.org/W4386081023","https://openalex.org/W4386363064","https://openalex.org/W4390810698","https://openalex.org/W4402299984","https://openalex.org/W6631190155","https://openalex.org/W6683036876","https://openalex.org/W6690919663","https://openalex.org/W6696497002","https://openalex.org/W6744580074","https://openalex.org/W6787934129"],"related_works":["https://openalex.org/W3148895720","https://openalex.org/W2393913406","https://openalex.org/W30258475","https://openalex.org/W2356579025","https://openalex.org/W2736697936","https://openalex.org/W3211835374","https://openalex.org/W2548611373","https://openalex.org/W1601809778","https://openalex.org/W3169304289","https://openalex.org/W2373733345"],"abstract_inverted_index":{"Mixed-integer":[0],"quadratic":[1,97],"programs":[2],"(MIQPs)":[3],"are":[4],"a":[5,23,78,102,137,155],"versatile":[6],"way":[7],"of":[8,49,87,126,145,153,166],"formulating":[9],"vehicle":[10],"decision":[11,33],"making":[12],"(DM)":[13],"and":[14,31,59,90,148,163],"motion":[15,130],"planning":[16,131],"problems,":[17],"where":[18],"the":[19,37,46,84,92,123,151,160,172],"prediction":[20],"model":[21],"is":[22,110,121],"hybrid":[24],"dynamical":[25],"system":[26],"that":[27,109,116,141],"involves":[28],"both":[29],"discrete":[30],"continuous":[32],"variables.":[34],"However,":[35],"even":[36],"most":[38],"advanced":[39],"MIQP":[40],"solvers":[41],"can":[42],"hardly":[43],"account":[44],"for":[45,70,113,168],"challenging":[47],"requirements":[48],"automotive-embedded":[50],"platforms.":[51],"Thus,":[52],"we":[53,100],"use":[54],"machine":[55],"learning":[56],"to":[57,82],"simplify":[58],"hence":[60],"speed":[61],"up":[62],"optimization.":[63],"Our":[64,133],"work":[65],"builds":[66],"on":[67,175],"recent":[68],"ideas":[69],"solving":[71,91],"MIQPs":[72,115],"in":[73,129,183],"real":[74],"time":[75],"by":[76,95],"training":[77],"neural":[79],"network":[80],"(NN)":[81],"predict":[83],"optimal":[85],"values":[86],"integer":[88,146],"variables":[89,147],"remaining":[93],"problem":[94],"online":[96],"programming.":[98],"Specifically,":[99],"propose":[101],"recurrent":[103],"permutation":[104],"equivariant":[105],"deep":[106],"set":[107],"(REDS)":[108],"particularly":[111],"suited":[112],"imitating":[114],"involve":[117],"many":[118],"obstacles,":[119],"which":[120],"often":[122],"major":[124],"source":[125],"computational":[127],"burden":[128],"problems.":[132],"framework":[134],"comprises":[135],"also":[136],"feasibility":[138,165],"projector":[139],"(FP)":[140],"corrects":[142],"infeasible":[143],"predictions":[144],"considerably":[149],"increases":[150],"likelihood":[152],"computing":[154],"collision-free":[156],"trajectory.":[157],"We":[158],"evaluate":[159],"performance,":[161],"safety,":[162],"real-time":[164],"DM":[167],"autonomous":[169],"driving":[170],"using":[171],"proposed":[173],"approach":[174],"realistic":[176],"multilane":[177],"traffic":[178],"scenarios":[179],"with":[180],"interactive":[181],"agents":[182],"SUMO":[184],"simulations.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
