{"id":"https://openalex.org/W4403863258","doi":"https://doi.org/10.1109/tcst.2024.3477354","title":"Automated Lane Merging via Game Theory and Branch Model Predictive Control","display_name":"Automated Lane Merging via Game Theory and Branch Model Predictive Control","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403863258","doi":"https://doi.org/10.1109/tcst.2024.3477354"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3477354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3477354","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":null,"display_name":"Luyao Zhang","orcid":"https://orcid.org/0009-0000-2024-3489"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Luyao Zhang","raw_affiliation_strings":["Delft Center for Systems and Control, TU Delft, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057180094","display_name":"Shaohang Han","orcid":"https://orcid.org/0000-0002-3294-8002"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Shaohang Han","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006692330","display_name":"Sergio Grammatico","orcid":"https://orcid.org/0000-0002-6021-2350"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Sergio Grammatico","raw_affiliation_strings":["Delft Center for Systems and Control, TU Delft, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft Center for Systems and Control, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":2.2598,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.88544202,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"33","issue":"4","first_page":"1258","last_page":"1269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9925000071525574,"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":0.9925000071525574,"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/T11195","display_name":"Simulation Techniques and Applications","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6341327428817749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5823667049407959},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.5816948413848877},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4498554468154907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4142783284187317},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.26278606057167053},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19691002368927002}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6341327428817749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5823667049407959},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.5816948413848877},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4498554468154907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4142783284187317},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.26278606057167053},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19691002368927002}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2024.3477354","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3477354","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/G7070891259","display_name":null,"funder_award_id":"AMADeuS","funder_id":"https://openalex.org/F4320322887","funder_display_name":"The Research Council"}],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"},{"id":"https://openalex.org/F4320322887","display_name":"The Research Council","ror":"https://ror.org/03tcppy59"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1584040247","https://openalex.org/W1965455100","https://openalex.org/W1983948265","https://openalex.org/W2005443352","https://openalex.org/W2087617385","https://openalex.org/W2336416123","https://openalex.org/W2492629073","https://openalex.org/W2782474430","https://openalex.org/W2800727637","https://openalex.org/W2890092150","https://openalex.org/W2904937669","https://openalex.org/W2923817898","https://openalex.org/W2963215357","https://openalex.org/W2968008415","https://openalex.org/W2973189050","https://openalex.org/W2982117252","https://openalex.org/W2991553555","https://openalex.org/W3004162504","https://openalex.org/W3043247471","https://openalex.org/W3044582844","https://openalex.org/W3047545417","https://openalex.org/W3089576059","https://openalex.org/W3090505727","https://openalex.org/W3105198771","https://openalex.org/W3105200428","https://openalex.org/W3132311446","https://openalex.org/W3139043235","https://openalex.org/W3171935329","https://openalex.org/W3197234345","https://openalex.org/W3200913209","https://openalex.org/W3207842966","https://openalex.org/W3210659441","https://openalex.org/W4210865858","https://openalex.org/W4285266454","https://openalex.org/W4285307725","https://openalex.org/W4296913591","https://openalex.org/W4308044468","https://openalex.org/W4308080801","https://openalex.org/W4311443343","https://openalex.org/W4312565408","https://openalex.org/W4312742187","https://openalex.org/W4312862130","https://openalex.org/W4313147057","https://openalex.org/W4360602931","https://openalex.org/W4365420215","https://openalex.org/W4385451975","https://openalex.org/W4386275696","https://openalex.org/W4391768697","https://openalex.org/W4391769040","https://openalex.org/W6684973485","https://openalex.org/W6743333067","https://openalex.org/W6753596642","https://openalex.org/W6768870957","https://openalex.org/W6779371956","https://openalex.org/W6797256610"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W2556120871"],"abstract_inverted_index":{"We":[0],"propose":[1],"an":[2],"integrated":[3,104],"behavior":[4,14],"and":[5,26,44,78,110],"motion":[6],"planning":[7,18],"framework":[8,63],"for":[9,66],"the":[10,36,46,67,73,93],"lane-merging":[11,37],"problem.":[12],"The":[13],"planner":[15,105],"combines":[16],"search-based":[17],"with":[19],"game":[20],"theory":[21],"to":[22,64,87],"model":[23,35,59],"vehicle":[24],"interactions":[25,116],"plan":[27],"multivehicle":[28],"trajectories.":[29],"Inspired":[30],"by":[31,49,72,91],"human":[32],"drivers,":[33],"we":[34,55,100],"problem":[38],"as":[39],"a":[40,51,57],"gap":[41,48],"selection":[42],"process":[43],"determine":[45],"appropriate":[47],"solving":[50],"matrix":[52],"game.":[53],"Moreover,":[54],"introduce":[56],"branch":[58],"predictive":[60],"control":[61],"(BMPC)":[62],"account":[65],"uncertain":[68],"equilibrium":[69],"strategies":[70],"adopted":[71],"surrounding":[74],"vehicles,":[75],"including":[76],"Nash":[77],"Stackelberg":[79],"strategies.":[80],"A":[81],"tailored":[82],"numerical":[83],"solver":[84],"is":[85],"developed":[86],"enhance":[88],"computational":[89],"efficiency":[90],"exploiting":[92],"tree":[94],"structure":[95],"inherent":[96],"in":[97,114,117],"BMPC.":[98],"Finally,":[99],"validate":[101],"our":[102],"proposed":[103],"using":[106],"real":[107],"traffic":[108,119],"data":[109],"demonstrate":[111],"its":[112],"effectiveness":[113],"handling":[115],"dense":[118],"scenarios.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
