{"id":"https://openalex.org/W2343568200","doi":"https://doi.org/10.1109/tiv.2016.2578706","title":"A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles","display_name":"A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles","publication_year":2016,"publication_date":"2016-03-01","ids":{"openalex":"https://openalex.org/W2343568200","doi":"https://doi.org/10.1109/tiv.2016.2578706","mag":"2343568200"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2016.2578706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2016.2578706","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/A5077085643","display_name":"B. Paden","orcid":"https://orcid.org/0000-0001-7907-3605"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"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":"Brian Paden","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014638371","display_name":"Michal \u010c\u00e1p","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]},{"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":["CZ","US"],"is_corresponding":false,"raw_author_name":"Michal Cap","raw_affiliation_strings":["Departmet of Computer Science, Faculty of Electrical Engineering, Czech Technical University in Prague, Zikova, Czech Republic","Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmet of Computer Science, Faculty of Electrical Engineering, Czech Technical University in Prague, Zikova, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011843629","display_name":"Sze Zheng Yong","orcid":"https://orcid.org/0000-0002-2104-3128"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"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":"Sze Zheng Yong","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048111092","display_name":"Dmitry Yershov","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"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":"Dmitry Yershov","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029069358","display_name":"Emilio Frazzoli","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"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":"Emilio Frazzoli","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"[Laboratory for Information, and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA]","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":99.7577,"has_fulltext":false,"cited_by_count":2547,"citation_normalized_percentile":{"value":0.99970796,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"1","issue":"1","first_page":"33","last_page":"55"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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/T10524","display_name":"Traffic control and management","score":0.9959999918937683,"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/automotive-industry","display_name":"Automotive industry","score":0.6929672956466675},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.6780538558959961},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.600196361541748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5665106773376465},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.4855163097381592},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4312679171562195},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4181830883026123},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3418094515800476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3020528256893158},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1282350718975067}],"concepts":[{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.6929672956466675},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.6780538558959961},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.600196361541748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5665106773376465},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.4855163097381592},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4312679171562195},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4181830883026123},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3418094515800476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3020528256893158},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1282350718975067},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2016.2578706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2016.2578706","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":170,"referenced_works":["https://openalex.org/W59561090","https://openalex.org/W100724795","https://openalex.org/W102190310","https://openalex.org/W131069610","https://openalex.org/W155097506","https://openalex.org/W198091129","https://openalex.org/W198732646","https://openalex.org/W300028405","https://openalex.org/W565786554","https://openalex.org/W588877302","https://openalex.org/W1160995053","https://openalex.org/W1424654272","https://openalex.org/W1502051703","https://openalex.org/W1503295031","https://openalex.org/W1504992226","https://openalex.org/W1516027685","https://openalex.org/W1544016679","https://openalex.org/W1558979968","https://openalex.org/W1574514837","https://openalex.org/W1587371456","https://openalex.org/W1592202749","https://openalex.org/W1600779980","https://openalex.org/W1622225657","https://openalex.org/W1864112212","https://openalex.org/W1964565648","https://openalex.org/W1964946446","https://openalex.org/W1965440866","https://openalex.org/W1968651858","https://openalex.org/W1968829280","https://openalex.org/W1969483458","https://openalex.org/W1970411044","https://openalex.org/W1971086298","https://openalex.org/W1971998222","https://openalex.org/W1973400989","https://openalex.org/W1974909294","https://openalex.org/W1978956894","https://openalex.org/W1979841516","https://openalex.org/W1985261374","https://openalex.org/W1985772979","https://openalex.org/W1987108535","https://openalex.org/W1988462079","https://openalex.org/W1989247659","https://openalex.org/W1992157405","https://openalex.org/W1997373994","https://openalex.org/W1997965309","https://openalex.org/W2000194319","https://openalex.org/W2000359213","https://openalex.org/W2000790002","https://openalex.org/W2001570019","https://openalex.org/W2002675616","https://openalex.org/W2004727989","https://openalex.org/W2007064482","https://openalex.org/W2010725166","https://openalex.org/W2014889099","https://openalex.org/W2017977027","https://openalex.org/W2028044548","https://openalex.org/W2031335381","https://openalex.org/W2032924574","https://openalex.org/W2033013465","https://openalex.org/W2036016432","https://openalex.org/W2038705758","https://openalex.org/W2039175100","https://openalex.org/W2039204626","https://openalex.org/W2042106485","https://openalex.org/W2042553152","https://openalex.org/W2043319097","https://openalex.org/W2050883740","https://openalex.org/W2052551315","https://openalex.org/W2054585537","https://openalex.org/W2055501135","https://openalex.org/W2060135607","https://openalex.org/W2066864879","https://openalex.org/W2070946303","https://openalex.org/W2071401582","https://openalex.org/W2073787051","https://openalex.org/W2078650888","https://openalex.org/W2083093559","https://openalex.org/W2084224084","https://openalex.org/W2085865324","https://openalex.org/W2088356556","https://openalex.org/W2088626604","https://openalex.org/W2089687364","https://openalex.org/W2096636360","https://openalex.org/W2099040926","https://openalex.org/W2099144379","https://openalex.org/W2101576084","https://openalex.org/W2104317982","https://openalex.org/W2104920576","https://openalex.org/W2106317889","https://openalex.org/W2107083270","https://openalex.org/W2107556430","https://openalex.org/W2111034649","https://openalex.org/W2112930335","https://openalex.org/W2113256452","https://openalex.org/W2113260309","https://openalex.org/W2114308185","https://openalex.org/W2116871385","https://openalex.org/W2118927982","https://openalex.org/W2120179083","https://openalex.org/W2120423655","https://openalex.org/W2121806728","https://openalex.org/W2121955477","https://openalex.org/W2123050817","https://openalex.org/W2124651605","https://openalex.org/W2127988032","https://openalex.org/W2128990851","https://openalex.org/W2132107948","https://openalex.org/W2132973123","https://openalex.org/W2133066324","https://openalex.org/W2133361850","https://openalex.org/W2140305633","https://openalex.org/W2143083884","https://openalex.org/W2143591873","https://openalex.org/W2144063905","https://openalex.org/W2144717132","https://openalex.org/W2145089737","https://openalex.org/W2149016364","https://openalex.org/W2149925871","https://openalex.org/W2154256781","https://openalex.org/W2154844948","https://openalex.org/W2158207287","https://openalex.org/W2161076907","https://openalex.org/W2162218551","https://openalex.org/W2165216595","https://openalex.org/W2166077797","https://openalex.org/W2168676389","https://openalex.org/W2169528473","https://openalex.org/W2170220350","https://openalex.org/W2170508483","https://openalex.org/W2171266831","https://openalex.org/W2172117433","https://openalex.org/W2173891962","https://openalex.org/W2212765426","https://openalex.org/W2279536494","https://openalex.org/W2294808847","https://openalex.org/W2308454760","https://openalex.org/W2313274380","https://openalex.org/W2334591577","https://openalex.org/W2404189583","https://openalex.org/W2406067508","https://openalex.org/W2477231637","https://openalex.org/W2505763307","https://openalex.org/W2622455071","https://openalex.org/W2758107681","https://openalex.org/W2952781900","https://openalex.org/W4231761304","https://openalex.org/W4236071179","https://openalex.org/W4236251699","https://openalex.org/W4236470048","https://openalex.org/W4241612360","https://openalex.org/W4246226690","https://openalex.org/W4249261707","https://openalex.org/W4254019281","https://openalex.org/W4254313632","https://openalex.org/W6602466129","https://openalex.org/W6604050056","https://openalex.org/W6608150121","https://openalex.org/W6629975777","https://openalex.org/W6635377747","https://openalex.org/W6642245628","https://openalex.org/W6649735592","https://openalex.org/W6654186649","https://openalex.org/W6675622114","https://openalex.org/W6678081342","https://openalex.org/W6683620479","https://openalex.org/W6687993641","https://openalex.org/W6698508847","https://openalex.org/W6738922628","https://openalex.org/W6765005767","https://openalex.org/W7073609445"],"related_works":["https://openalex.org/W3047375952","https://openalex.org/W4288634015","https://openalex.org/W4382644535","https://openalex.org/W3138110502","https://openalex.org/W2522768275","https://openalex.org/W2909676666","https://openalex.org/W2352938035","https://openalex.org/W2351672553","https://openalex.org/W2373392303","https://openalex.org/W2765894405"],"abstract_inverted_index":{"Self-driving":[0],"vehicles":[1,44],"are":[2],"a":[3,30,38,89],"maturing":[4],"technology":[5],"with":[6,42,73,88,140],"the":[7,14,62,66,77,99,107,110,130,135],"potential":[8],"to":[9,60,76,126],"reshape":[10],"mobility":[11,101],"by":[12,29,118],"enhancing":[13],"safety,":[15],"accessibility,":[16],"efficiency,":[17],"and":[18,45,47,70,112,132,138],"convenience":[19],"of":[20,35,56,65,82,91,109,134],"automotive":[21],"transportation.":[22],"Safety-critical":[23],"tasks":[24],"that":[25],"must":[26],"be":[27],"executed":[28],"self-driving":[31],"vehicle":[32,100],"include":[33],"planning":[34,69],"motions":[36],"through":[37],"dynamic":[39],"environment":[40],"shared":[41],"other":[43],"pedestrians,":[46],"their":[48,92],"robust":[49],"executions":[50],"via":[51],"feedback":[52],"control.":[53],"The":[54,94,116],"objective":[55],"this":[57,123],"paper":[58],"is":[59,85],"survey":[61,124],"current":[63],"state":[64],"art":[67],"on":[68,106],"control":[71],"algorithms":[72],"particular":[74],"regard":[75],"urban":[78],"setting.":[79],"A":[80],"selection":[81],"proposed":[83],"techniques":[84],"reviewed":[86,136],"along":[87],"discussion":[90],"effectiveness.":[93],"surveyed":[95],"approaches":[96,137],"differ":[97],"in":[98,104,113,122],"model":[102],"used,":[103],"assumptions":[105],"structure":[108],"environment,":[111],"computational":[114],"requirements.":[115],"side":[117,119],"comparison":[120],"presented":[121],"helps":[125],"gain":[127],"insight":[128],"into":[129],"strengths":[131],"limitations":[133],"assists":[139],"system":[141],"level":[142],"design":[143],"choices.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":129},{"year":2025,"cited_by_count":274},{"year":2024,"cited_by_count":326},{"year":2023,"cited_by_count":335},{"year":2022,"cited_by_count":329},{"year":2021,"cited_by_count":333},{"year":2020,"cited_by_count":338},{"year":2019,"cited_by_count":273},{"year":2018,"cited_by_count":139},{"year":2017,"cited_by_count":66},{"year":2016,"cited_by_count":5}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}
