{"id":"https://openalex.org/W4402569782","doi":"https://doi.org/10.1109/tcst.2024.3451370","title":"Predictive Control for Autonomous Driving With Uncertain, Multimodal Predictions","display_name":"Predictive Control for Autonomous Driving With Uncertain, Multimodal Predictions","publication_year":2024,"publication_date":"2024-09-17","ids":{"openalex":"https://openalex.org/W4402569782","doi":"https://doi.org/10.1109/tcst.2024.3451370"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3451370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3451370","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/A5089178972","display_name":"Siddharth H. Nair","orcid":"https://orcid.org/0000-0002-9011-8189"},"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":"Siddharth H. Nair","raw_affiliation_strings":["Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9011-8189","affiliations":[{"raw_affiliation_string":"Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030729536","display_name":"Hotae Lee","orcid":null},"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":"Hotae Lee","raw_affiliation_strings":["Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0009-0001-2539-0338","affiliations":[{"raw_affiliation_string":"Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061734977","display_name":"Eunhyek Joa","orcid":"https://orcid.org/0000-0003-2973-2144"},"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":"Eunhyek Joa","raw_affiliation_strings":["Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2973-2144","affiliations":[{"raw_affiliation_string":"Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Wang","orcid":"https://orcid.org/0000-0003-1603-4582"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["Ford Research and Advanced Engineering, Dearborn, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-1603-4582","affiliations":[{"raw_affiliation_string":"Ford Research and Advanced Engineering, Dearborn, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":null,"display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-5087-9592"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Eric Tseng","raw_affiliation_strings":["University of Texas at Arlington, Arlington, TX, USA"],"raw_orcid":"https://orcid.org/0000-0001-5087-9592","affiliations":[{"raw_affiliation_string":"University of Texas at Arlington, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025067440","display_name":"Francesco Borrelli","orcid":"https://orcid.org/0000-0001-8919-6430"},"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":"Francesco Borrelli","raw_affiliation_strings":["Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8919-6430","affiliations":[{"raw_affiliation_string":"Model Predictive Control Laboratory, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5347,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96490398,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"33","issue":"4","first_page":"1178","last_page":"1192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9685999751091003,"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":0.9685999751091003,"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/model-predictive-control","display_name":"Model predictive control","score":0.6420049667358398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5597032308578491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44123658537864685},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3531401455402374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31646913290023804}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6420049667358398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5597032308578491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44123658537864685},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3531401455402374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31646913290023804}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2024.3451370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3451370","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":[],"awards":[{"id":"https://openalex.org/G4354449128","display_name":null,"funder_award_id":"DE-AR0000791","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W2067645499","https://openalex.org/W2110349823","https://openalex.org/W2117397690","https://openalex.org/W2123871098","https://openalex.org/W2127788848","https://openalex.org/W2167412190","https://openalex.org/W2557055507","https://openalex.org/W2591292776","https://openalex.org/W2749680651","https://openalex.org/W2783963507","https://openalex.org/W2788712715","https://openalex.org/W2807301194","https://openalex.org/W2890092150","https://openalex.org/W2899710454","https://openalex.org/W2911846823","https://openalex.org/W2969738732","https://openalex.org/W3044582844","https://openalex.org/W3047545417","https://openalex.org/W3049000517","https://openalex.org/W3116651890","https://openalex.org/W3136496990","https://openalex.org/W3158413423","https://openalex.org/W3159022532","https://openalex.org/W3164205119","https://openalex.org/W3199113962","https://openalex.org/W3200913209","https://openalex.org/W3208617162","https://openalex.org/W3210309464","https://openalex.org/W4285203271","https://openalex.org/W4285237227","https://openalex.org/W4312742187","https://openalex.org/W4313534757","https://openalex.org/W4315471893","https://openalex.org/W4366169357","https://openalex.org/W4385300831","https://openalex.org/W4385325487","https://openalex.org/W4386275696","https://openalex.org/W4386634641","https://openalex.org/W6745935785","https://openalex.org/W6760782946","https://openalex.org/W6769043036","https://openalex.org/W6780503301","https://openalex.org/W6783606016","https://openalex.org/W6845437401","https://openalex.org/W6857219422"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W4248731570","https://openalex.org/W2556120871"],"abstract_inverted_index":{"We":[0,138,158],"propose":[1],"a":[2,92,148,166,171,182],"stochastic":[3],"model":[4],"predictive":[5],"control":[6],"(SMPC)":[7],"formulation":[8,95,131],"for":[9,51,57,109],"path":[10,58,73],"planning":[11,74],"with":[12,20,135,147,155],"autonomous":[13],"vehicles":[14],"in":[15,32,152,189],"scenarios":[16],"involving":[17],"multiple":[18,193],"agents":[19],"multimodal":[21,24,52,64,133,161,203],"predictions.":[22],"The":[23,115],"predictions":[25,134],"capture":[26],"the":[27,61,113,124,129,190,206],"uncertainty":[28],"of":[29,63,112,117,128,192],"urban":[30],"driving":[31,41,162],"distinct":[33],"modes/maneuvers":[34],"(e.g.,":[35,43],"yield":[36],"and":[37,40,45,104,120,126,144,170,185],"keep":[38],"speed)":[39],"trajectories":[42],"speed":[44],"turning":[46],"radius),":[47],"which":[48],"are":[49],"incorporated":[50],"collision":[53],"avoidance":[54],"chance":[55],"constraints":[56],"planning.":[59],"In":[60],"presence":[62,191],"uncertainties,":[65],"it":[66],"is":[67,91],"challenging":[68],"to":[69,205],"reliably":[70,201],"compute":[71],"feasible":[72],"solutions":[75,204],"at":[76,181,209],"real-time":[77,210],"frequencies":[78],"(<inline-formula":[79],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[80],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[81],"<tex-math":[82],"notation=\"LaTeX\">${\\geq":[83],"}10~\\mathrm":[84],"{Hz}$":[85],"</tex-math></inline-formula>).":[86],"Our":[87],"main":[88],"technological":[89],"contribution":[90],"convex":[93],"SMPC":[94,130],"that":[96],"simultaneously":[97],"1)":[98,164],"optimizes":[99],"over":[100],"parameterized":[101],"feedback":[102,118],"policies":[103,119],"2)":[105,175],"allocates":[106],"risk":[107,121],"levels":[108],"each":[110],"mode":[111],"prediction.":[114],"use":[116],"allocation":[122],"enhances":[123],"feasibility":[125],"performance":[127],"against":[132],"large":[136],"uncertainty.":[137],"evaluate":[139],"our":[140,199],"approach":[141,200],"via":[142],"simulations":[143],"road":[145],"experiments":[146],"full-scale":[149],"vehicle":[150],"interacting":[151],"closed":[153],"loop":[154],"virtual":[156],"vehicles.":[157],"consider":[159],"distinct,":[160],"scenarios:":[163],"negotiating":[165],"traffic":[167,183],"light":[168],"(TL)":[169],"fast,":[172],"tailgating":[173],"agent;":[174],"executing":[176],"an":[177],"unprotected":[178],"left":[179],"turn":[180],"intersection;":[184],"3)":[186],"changing":[187],"lanes":[188],"agents.":[194],"For":[195],"all":[196],"these":[197],"scenarios,":[198],"computes":[202],"path-planning":[207],"problem":[208],"frequencies.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
