{"id":"https://openalex.org/W4404293873","doi":"https://doi.org/10.1109/tits.2024.3489019","title":"Real-Time Resilient Tracking Control for Autonomous Vehicles Through Triple Iterative Approximate Dynamic Programming","display_name":"Real-Time Resilient Tracking Control for Autonomous Vehicles Through Triple Iterative Approximate Dynamic Programming","publication_year":2024,"publication_date":"2024-11-12","ids":{"openalex":"https://openalex.org/W4404293873","doi":"https://doi.org/10.1109/tits.2024.3489019"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3489019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3489019","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":null,"display_name":"Wenyu Li","orcid":"https://orcid.org/0000-0001-8846-5301"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenyu Li","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8846-5301","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113051112","display_name":"Jiale Geng","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiale Geng","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation, Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047232087","display_name":"Yunqi Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunqi Cheng","raw_affiliation_strings":["School of Information Science and Technology, University of Science and Technology of China, Hefei, Anhui, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045524649","display_name":"Liye Tang","orcid":null},"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":"Liye Tang","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":null,"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/A5067909017","display_name":"Jingliang Duan","orcid":"https://orcid.org/0000-0002-3697-1576"},"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":"Jingliang Duan","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3697-1576","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/A5015883801","display_name":"Feng Duan","orcid":"https://orcid.org/0000-0002-2179-2460"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Duan","raw_affiliation_strings":["College of Artificial Intelligence and Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2179-2460","affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence and Tianjin Key Laboratory of Interventional Brain-Computer Interface and Intelligent Rehabilitation, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"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":"Shengbo Eben Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":2.0742,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.88646885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"26","issue":"1","first_page":"1015","last_page":"1028"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9323999881744385,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9323999881744385,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9235000014305115,"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/dynamic-programming","display_name":"Dynamic programming","score":0.6616910696029663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5664846301078796},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4996321201324463},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4507090449333191},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4152461886405945},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.378704309463501},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27938321232795715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23265627026557922},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.18223100900650024},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1268065869808197}],"concepts":[{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.6616910696029663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5664846301078796},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4996321201324463},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4507090449333191},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4152461886405945},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.378704309463501},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27938321232795715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23265627026557922},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.18223100900650024},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1268065869808197},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3489019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3489019","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":0.4300000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2802046837","display_name":null,"funder_award_id":"22PTZWHZ00040","funder_id":"https://openalex.org/F4320336756","funder_display_name":"Tianjin Science and Technology Program"},{"id":"https://openalex.org/G6972843422","display_name":null,"funder_award_id":"62303244","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7152727200","display_name":null,"funder_award_id":"63241455","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7214948892","display_name":null,"funder_award_id":"22JCQNJC01440","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336756","display_name":"Tianjin Science and Technology Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1968651586","https://openalex.org/W2032787353","https://openalex.org/W2071902801","https://openalex.org/W2072908839","https://openalex.org/W2093831009","https://openalex.org/W2108286682","https://openalex.org/W2116773335","https://openalex.org/W2129015178","https://openalex.org/W2147532464","https://openalex.org/W2159543578","https://openalex.org/W2170973929","https://openalex.org/W2391661337","https://openalex.org/W2409079774","https://openalex.org/W2411880591","https://openalex.org/W2615121191","https://openalex.org/W2616510427","https://openalex.org/W2800937130","https://openalex.org/W2863749457","https://openalex.org/W2915707381","https://openalex.org/W2967952682","https://openalex.org/W2979314083","https://openalex.org/W3002044607","https://openalex.org/W3045857947","https://openalex.org/W3088035741","https://openalex.org/W3195860693","https://openalex.org/W3212274512","https://openalex.org/W4220785440","https://openalex.org/W4248682112","https://openalex.org/W4312567063","https://openalex.org/W4313289139","https://openalex.org/W4323897042","https://openalex.org/W4366158867","https://openalex.org/W4385451986","https://openalex.org/W4388855955","https://openalex.org/W4390751443"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W2023861399","https://openalex.org/W2730915376","https://openalex.org/W2626306547","https://openalex.org/W2021396365","https://openalex.org/W2394134009","https://openalex.org/W2119515433","https://openalex.org/W2009561238","https://openalex.org/W1340065","https://openalex.org/W2764080676"],"abstract_inverted_index":{"Enhancing":[0],"control":[1,40,54,62,71,146],"precision,":[2],"mitigating":[3],"external":[4,73],"disturbances,":[5],"and":[6,64,106,116,137,173],"ensuring":[7],"real-time":[8,50],"responsiveness":[9],"stand":[10],"as":[11,76],"the":[12,127,155,163],"cornerstone":[13],"of":[14,20,30,59,97,129,159],"autonomous":[15],"vehicle":[16],"tracking":[17,70],"endeavors,":[18],"each":[19],"which":[21],"intricately":[22],"interwoven":[23],"to":[24,68,142],"uphold":[25],"operational":[26],"safety.":[27],"In":[28],"pursuit":[29],"addressing":[31],"these":[32],"issues,":[33],"this":[34,130,160],"paper":[35],"presents":[36],"a":[37,77,119,138],"triple":[38,92],"iterative":[39],"method":[41,161],"inspired":[42],"by":[43],"approximate":[44],"dynamic":[45],"programming":[46],"(ADP)":[47],"tailored":[48],"for":[49],"disturbance":[51,65],"avoidance.":[52],"The":[53],"framework":[55],"orchestrates":[56],"simultaneous":[57],"iterations":[58],"value":[60],"function,":[61],"policy,":[63,66],"engineered":[67],"optimize":[69],"amidst":[72],"disturbances":[74],"cast":[75],"zero-sum":[78],"differential":[79],"game,":[80],"tackled":[81],"adeptly":[82],"through":[83],"deep":[84],"neural":[85],"networks.":[86],"Rigorous":[87],"mathematical":[88],"proof":[89],"underpins":[90],"its":[91,102,111,134,170],"iteration,":[93],"coupled":[94],"with":[95,151],"assurances":[96],"residual":[98],"error":[99],"convergence,":[100],"solidifying":[101],"safety":[103],"guarantee":[104],"ability":[105],"algorithmic":[107],"resilience.":[108],"To":[109],"validate":[110],"effectiveness,":[112],"both":[113],"numerical":[114],"simulations":[115],"experiments":[117],"on":[118,162],"real":[120],"micro-vehicle":[121],"platform":[122],"were":[123],"conducted.":[124],"Results":[125],"underscore":[126],"feasibility":[128],"new":[131],"method,":[132],"showcasing":[133],"energy-saving":[135],"capability":[136],"four-times":[139],"acceleration":[140],"compared":[141],"conventional":[143],"model":[144],"predictive":[145],"(MPC)":[147],"approaches":[148],"when":[149],"confronted":[150],"lateral":[152],"disturbances.":[153],"Notably,":[154],"single-step":[156],"calculation":[157],"time":[158],"Raspberry":[164],"Pi":[165],"is":[166],"only":[167],"1.44ms,":[168],"affirming":[169],"practical":[171],"viability":[172],"real-world":[174],"applicability.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}