{"id":"https://openalex.org/W4392843942","doi":"https://doi.org/10.1109/tits.2023.3335290","title":"Accuracy and Safety: Tracking Control of Heavy-Duty Cooperative Transportation Systems Using Constraint-Following Method","display_name":"Accuracy and Safety: Tracking Control of Heavy-Duty Cooperative Transportation Systems Using Constraint-Following Method","publication_year":2024,"publication_date":"2024-02-14","ids":{"openalex":"https://openalex.org/W4392843942","doi":"https://doi.org/10.1109/tits.2023.3335290"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3335290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3335290","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5107939024","display_name":"Bowei Zhang","orcid":"https://orcid.org/0000-0002-3120-4538"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowei Zhang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3120-4538","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014315590","display_name":"Ye\u2010Hwa Chen","orcid":"https://orcid.org/0000-0002-9591-1397"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ye-Hwa Chen","raw_affiliation_strings":["George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9591-1397","affiliations":[{"raw_affiliation_string":"George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056570380","display_name":"Yifan Jia","orcid":"https://orcid.org/0000-0003-4411-8222"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Jia","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4411-8222","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087389386","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0001-8774-2936"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8774-2936","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735948","display_name":"Diange Yang","orcid":"https://orcid.org/0000-0002-0074-2448"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diange Yang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0074-2448","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101987780","display_name":"Zhihua Zhong","orcid":"https://orcid.org/0009-0003-6530-9930"},"institutions":[{"id":"https://openalex.org/I40246663","display_name":"Chinese Academy of Engineering","ror":"https://ror.org/00z3yke57","country_code":"CN","type":"other","lineage":["https://openalex.org/I40246663"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihua Zhong","raw_affiliation_strings":["Chinese Academy of Engineering, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Engineering, Beijing, China","institution_ids":["https://openalex.org/I40246663"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2304,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.92642369,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"25","issue":"5","first_page":"3628","last_page":"3641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9972000122070312,"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":0.9972000122070312,"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":0.9944999814033508,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8808756470680237},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6607683897018433},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5683638453483582},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5549352169036865},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.509874701499939},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5077729821205139},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4868282675743103},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48250865936279297},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4334898293018341},{"id":"https://openalex.org/keywords/modeling-and-simulation","display_name":"Modeling and simulation","score":0.4264225959777832},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40087008476257324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31174153089523315},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2766880989074707}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8808756470680237},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6607683897018433},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5683638453483582},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5549352169036865},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.509874701499939},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5077729821205139},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4868282675743103},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48250865936279297},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4334898293018341},{"id":"https://openalex.org/C167343916","wikidata":"https://www.wikidata.org/wiki/Q6888384","display_name":"Modeling and simulation","level":2,"score":0.4264225959777832},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40087008476257324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31174153089523315},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2766880989074707},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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":1,"locations":[{"id":"doi:10.1109/tits.2023.3335290","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3335290","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1095835165","display_name":null,"funder_award_id":"52221005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1929027860","display_name":null,"funder_award_id":"52394264","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3093246196","display_name":null,"funder_award_id":"52122217","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3220375913","display_name":null,"funder_award_id":"20224ACB218002","funder_id":"https://openalex.org/F4320322665","funder_display_name":"Natural Science Foundation of Jiangxi Province"},{"id":"https://openalex.org/G3313907975","display_name":null,"funder_award_id":"2020YFB1710901","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4417366790","display_name":null,"funder_award_id":"U20A20285","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4744005820","display_name":null,"funder_award_id":"52394260","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7544117546","display_name":null,"funder_award_id":"U1801263","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8465725714","display_name":"\u57fa\u4e8e\u8d1d\u53f6\u65af\u52a0\u901f\u786c\u4ef6\u7684\u89c6\u89c9\u573a\u666f\u8ba4\u77e5\u7c7b\u8111\u8ba1\u7b97\u7814\u7a76","funder_award_id":"61872217","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322665","display_name":"Natural Science Foundation of Jiangxi Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1135555303","https://openalex.org/W1560903273","https://openalex.org/W1804496986","https://openalex.org/W1978023077","https://openalex.org/W2065676327","https://openalex.org/W2088129908","https://openalex.org/W2128415126","https://openalex.org/W2145493798","https://openalex.org/W2146671673","https://openalex.org/W2151435677","https://openalex.org/W2155296698","https://openalex.org/W2155813418","https://openalex.org/W2156136425","https://openalex.org/W2164538850","https://openalex.org/W2291304229","https://openalex.org/W2415175524","https://openalex.org/W2564380144","https://openalex.org/W2736338601","https://openalex.org/W2746159415","https://openalex.org/W2784132404","https://openalex.org/W2795240732","https://openalex.org/W2910539662","https://openalex.org/W2913416895","https://openalex.org/W2962011790","https://openalex.org/W2963805730","https://openalex.org/W3012348377","https://openalex.org/W3018942752","https://openalex.org/W3094595252","https://openalex.org/W3140540727","https://openalex.org/W3159044936","https://openalex.org/W3206720931","https://openalex.org/W4200494472","https://openalex.org/W4205970120","https://openalex.org/W4211241755","https://openalex.org/W4213218128","https://openalex.org/W4245579914","https://openalex.org/W4381894020"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Accurate":[0],"tracking":[1,31,96,121,176],"control":[2,32,89,97,151,184],"of":[3,15,22,33,39,59,119,130],"autonomous":[4,40,198],"cooperative":[5,199],"transportation":[6,200],"systems":[7],"(CTS)":[8],"remains":[9],"challenging":[10],"owing":[11],"to":[12,55,93],"the":[13,16,19,29,57,60,64,70,75,79,95,100,106,113,120,131,146,150,158,167,174,182,187],"complexity":[14],"mechanisms":[17],"and":[18,74,108,153,163,186,196],"high":[20],"requirements":[21],"coordination":[23],"between":[24,149],"carriers.":[25],"In":[26],"this":[27],"paper,":[28],"trajectory":[30,175],"a":[34,37,135],"CTS":[35],"with":[36],"pair":[38],"vehicles":[41],"serving":[42],"as":[43],"carriers":[44],"is":[45,53,82,91,123,140,169],"investigated.":[46],"A":[47],"novel":[48],"constraint-oriented":[49,159],"hierarchical":[50],"modeling":[51,73,80,114],"method":[52,139,185],"proposed":[54,183],"describe":[56],"dynamics":[58,66],"system.":[61],"By":[62],"dividing":[63],"system":[65,102],"into":[67],"two":[68],"portions:":[69],"lower-level":[71],"individual":[72],"upper-level":[76],"constraints":[77,110],"abstraction,":[78],"process":[81],"significantly":[83],"simplified.":[84],"Then":[85],"an":[86],"innovative":[87],"constraint-following":[88],"law":[90],"designed":[92,111],"address":[94],"problem":[98],"under":[99],"special":[101],"topology,":[103],"based":[104],"on":[105,145,166],"internal":[107],"external":[109],"in":[112],"process.":[115],"The":[116,161],"asymptotic":[117],"convergence":[118],"error":[122],"theoretically":[124],"guaranteed.":[125],"To":[126],"reduce":[127],"potential":[128],"damage":[129],"payload":[132,136,154,168,188],"during":[133],"transportation,":[134],"force":[137,189],"optimization":[138,190],"creatively":[141],"proposed.":[142],"It":[143],"relies":[144],"closed-form":[147],"relationship":[148],"input":[152],"forces":[155],"established":[156],"by":[157],"modeling.":[160],"normal":[162],"shear":[164],"stress":[165],"successfully":[170],"limited,":[171],"without":[172],"affecting":[173],"performance.":[177],"Simulation":[178],"results":[179],"show":[180],"that":[181],"strategy":[191],"can":[192],"help":[193],"achieve":[194],"accurate":[195],"safe":[197],"simultaneously.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}
