{"id":"https://openalex.org/W4404370955","doi":"https://doi.org/10.1109/tits.2024.3486557","title":"A Two-Level Control Algorithm for Autonomous Driving in Urban Environments","display_name":"A Two-Level Control Algorithm for Autonomous Driving in Urban Environments","publication_year":2024,"publication_date":"2024-11-14","ids":{"openalex":"https://openalex.org/W4404370955","doi":"https://doi.org/10.1109/tits.2024.3486557"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3486557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3486557","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/A5042146883","display_name":"Erfan Aasi","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erfan Aasi","raw_affiliation_strings":["Computer Science and Artificial Intelligence Department, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1740-5536","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Department, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingyu Cai","orcid":"https://orcid.org/0000-0002-2967-2703"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyu Cai","raw_affiliation_strings":["Mechanical Department, University of California at Riverside, Riverside, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2967-2703","affiliations":[{"raw_affiliation_string":"Mechanical Department, University of California at Riverside, Riverside, CA, USA","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086654963","display_name":"Cristian-Ioan Vasile","orcid":"https://orcid.org/0000-0002-1132-1462"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cristian-Ioan Vasile","raw_affiliation_strings":["Mechanical Engineering and Mechanics Department, Lehigh University, Bethlehem, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1132-1462","affiliations":[{"raw_affiliation_string":"Mechanical Engineering and Mechanics Department, Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086742095","display_name":"C\u0103lin Belta","orcid":"https://orcid.org/0000-0002-7141-2657"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Calin Belta","raw_affiliation_strings":["Department of Electrical and Computer Engineering and the Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-7141-2657","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering and the Department of Computer Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.352,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56424375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"26","issue":"1","first_page":"410","last_page":"424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.6766999959945679,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.6766999959945679,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10524","display_name":"Traffic control and management","score":0.6741999983787537,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.6656000018119812,"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/computer-science","display_name":"Computer science","score":0.5413780808448792},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4339442253112793},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38928598165512085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2911757230758667}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5413780808448792},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4339442253112793},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38928598165512085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2911757230758667}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3486557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3486557","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":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4553413310","display_name":"NRI: FND: A Formal Methods Approach to Safe, Composable, and Distributed Reinforcement Learning for co-Robots","funder_award_id":"2024606","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W828139470","https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1935692274","https://openalex.org/W2019826771","https://openalex.org/W2092884371","https://openalex.org/W2093699968","https://openalex.org/W2116773335","https://openalex.org/W2117189826","https://openalex.org/W2155327357","https://openalex.org/W2235537245","https://openalex.org/W2263673729","https://openalex.org/W2411577903","https://openalex.org/W2560504659","https://openalex.org/W2617250276","https://openalex.org/W2737479107","https://openalex.org/W2773226774","https://openalex.org/W2785700716","https://openalex.org/W2790176947","https://openalex.org/W2799882115","https://openalex.org/W2884559985","https://openalex.org/W2890208026","https://openalex.org/W2892521964","https://openalex.org/W2954115742","https://openalex.org/W2962921733","https://openalex.org/W2964136016","https://openalex.org/W2968120782","https://openalex.org/W2970517549","https://openalex.org/W2972966994","https://openalex.org/W2990116160","https://openalex.org/W2991589230","https://openalex.org/W3003585843","https://openalex.org/W3014272419","https://openalex.org/W3040475430","https://openalex.org/W3081975785","https://openalex.org/W3153025913","https://openalex.org/W3158413423","https://openalex.org/W3170300491","https://openalex.org/W3181376804","https://openalex.org/W3187012765","https://openalex.org/W3196496175","https://openalex.org/W3199113962","https://openalex.org/W3199379010","https://openalex.org/W3199479418","https://openalex.org/W4206713226","https://openalex.org/W4226410592","https://openalex.org/W4285111075","https://openalex.org/W4291910338","https://openalex.org/W4312639337","https://openalex.org/W4312663019","https://openalex.org/W4386737220","https://openalex.org/W4389667294","https://openalex.org/W6745935785","https://openalex.org/W6787360007"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109"],"abstract_inverted_index":{"We":[0,165],"propose":[1],"a":[2,41,48,56,107],"two-level":[3],"hierarchical":[4],"architecture":[5],"for":[6,45],"controlling":[7],"an":[8],"autonomous":[9],"vehicle":[10],"(ego)":[11],"in":[12,123,157,188],"complex":[13,162],"urban":[14,185],"driving":[15,186],"environments.":[16],"This":[17,142],"approach":[18],"ensures":[19],"both":[20,100],"collision":[21,108],"avoidance":[22],"and":[23,47,73,103,137,160,169],"adherence":[24],"to":[25,54,119],"traffic":[26,63,110],"rules":[27,64],"while":[28],"maintaining":[29],"real-time":[30],"performance.":[31],"At":[32],"the":[33,52,80,92,104,114,120,124,135,146,153,158,161,167,189],"top":[34,84,121],"level":[35,85,116,122,148],"of":[36,51,99,126,140,172,183],"our":[37,173],"framework,":[38],"we":[39],"use":[40],"simple":[42],"dynamic":[43],"model":[44],"ego":[46,101],"simplified":[49,154],"representation":[50],"environment":[53],"formulate":[55],"Model":[57],"Predictive":[58],"Control":[59],"(MPC)":[60],"problem.":[61],"The":[62,83],"are":[65,130],"represented":[66],"by":[67,175],"Signal":[68],"Temporal":[69],"Logic":[70],"(STL)":[71],"formulas":[72],"incorporated":[74],"as":[75],"mixed":[76,131],"integer-linear":[77,132],"constraints":[78,133],"within":[79],"MPC":[81,86,159],"optimization.":[82],"solution":[87],"is":[88],"then":[89],"simulated":[90],"at":[91],"bottom":[93,115,147],"level,":[94],"which":[95,129],"employs":[96],"detailed":[97],"models":[98,155],"dynamics":[102],"environment.":[105],"If":[106],"or":[109],"rule":[111],"violation":[112],"occurs,":[113],"provides":[117],"feedback":[118,144],"form":[125],"correction":[127],"constraints,":[128],"affecting":[134],"state":[136],"control":[138],"input":[139],"ego.":[141],"closed-loop":[143],"from":[145],"helps":[149],"address":[150],"discrepancies":[151],"between":[152],"used":[156],"real-world":[163],"models.":[164],"assess":[166],"effectiveness":[168],"runtime":[170],"performance":[171],"method":[174],"comparing":[176],"it":[177],"with":[178],"existing":[179],"approaches,":[180],"through":[181],"simulations":[182],"various":[184],"scenarios":[187],"CARLA":[190],"simulator.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
