{"id":"https://openalex.org/W2990232926","doi":"https://doi.org/10.1109/tiv.2019.2955371","title":"Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control","display_name":"Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control","publication_year":2019,"publication_date":"2019-11-22","ids":{"openalex":"https://openalex.org/W2990232926","doi":"https://doi.org/10.1109/tiv.2019.2955371","mag":"2990232926"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2019.2955371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2019.2955371","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/A5090118616","display_name":"Karl Berntorp","orcid":"https://orcid.org/0000-0002-6809-6657"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Karl Berntorp","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082054788","display_name":"Richard Bai","orcid":"https://orcid.org/0000-0002-9063-065X"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Bai","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090502383","display_name":"Karl Fredrik Erliksson","orcid":"https://orcid.org/0000-0003-2436-8566"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl F. Erliksson","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072891938","display_name":"Claus Danielson","orcid":"https://orcid.org/0000-0002-2317-3014"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claus Danielson","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086788149","display_name":"Avishai Weiss","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avishai Weiss","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004144091","display_name":"Stefano Di Cairano","orcid":"https://orcid.org/0000-0002-2363-2807"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Di Cairano","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5090118616"],"corresponding_institution_ids":["https://openalex.org/I4210159266"],"apc_list":null,"apc_paid":null,"fwci":1.124,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.82686076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"5","issue":"1","first_page":"112","last_page":"126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9979000091552734,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.996999979019165,"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/motion-planning","display_name":"Motion planning","score":0.5795658826828003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5756851434707642},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5573392510414124},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5417450666427612},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5342459082603455},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5004138946533203},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4677695631980896},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.46162110567092896},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4412664473056793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44025516510009766},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4297245144844055},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42084455490112305},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4205433428287506},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.41396084427833557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3572162091732025},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3554232716560364},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.346864253282547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26327425241470337},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23447290062904358},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16381686925888062},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.08952870965003967}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5795658826828003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5756851434707642},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5573392510414124},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5417450666427612},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5342459082603455},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5004138946533203},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4677695631980896},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.46162110567092896},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4412664473056793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44025516510009766},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4297245144844055},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42084455490112305},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4205433428287506},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.41396084427833557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3572162091732025},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3554232716560364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.346864253282547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26327425241470337},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23447290062904358},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16381686925888062},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.08952870965003967},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2019.2955371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2019.2955371","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":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W323911834","https://openalex.org/W369713157","https://openalex.org/W614285309","https://openalex.org/W1424654272","https://openalex.org/W1528232587","https://openalex.org/W1544016679","https://openalex.org/W1552578721","https://openalex.org/W1965599059","https://openalex.org/W2014414177","https://openalex.org/W2019954549","https://openalex.org/W2021667711","https://openalex.org/W2043397975","https://openalex.org/W2061469207","https://openalex.org/W2063906864","https://openalex.org/W2064649514","https://openalex.org/W2093699968","https://openalex.org/W2097545165","https://openalex.org/W2100538121","https://openalex.org/W2112930335","https://openalex.org/W2121806728","https://openalex.org/W2123665586","https://openalex.org/W2130422193","https://openalex.org/W2139430868","https://openalex.org/W2165216595","https://openalex.org/W2288721144","https://openalex.org/W2290877012","https://openalex.org/W2336416123","https://openalex.org/W2343568200","https://openalex.org/W2406067508","https://openalex.org/W2491188924","https://openalex.org/W2491273080","https://openalex.org/W2569581312","https://openalex.org/W2611243847","https://openalex.org/W2612952478","https://openalex.org/W2735958714","https://openalex.org/W2737223130","https://openalex.org/W2765222405","https://openalex.org/W2789442532","https://openalex.org/W2885813633","https://openalex.org/W2914134759","https://openalex.org/W2914909147","https://openalex.org/W2924817260","https://openalex.org/W2962822210","https://openalex.org/W2963114352","https://openalex.org/W2963331036","https://openalex.org/W3210839039","https://openalex.org/W4241586728","https://openalex.org/W4293682399","https://openalex.org/W4300995080","https://openalex.org/W6619122422"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W4381746183","https://openalex.org/W2120267624"],"abstract_inverted_index":{"This":[0],"article":[1],"describes":[2],"a":[3,53,72,85,94],"method":[4,17,47,82,110],"for":[5],"real-time":[6],"integrated":[7],"motion":[8,66],"planning":[9],"and":[10,24,33,56,79,89,114,122,132],"control":[11,77],"aimed":[12],"at":[13],"autonomous":[14],"vehicles.":[15],"Our":[16,46],"leverages":[18],"feedback":[19],"control,":[20],"positive":[21],"invariant":[22],"sets,":[23],"equilibrium":[25],"trajectories":[26,35,118],"of":[27,67,75],"the":[28,43,50,58,76,81,125],"closed-loop":[29],"system":[30],"to":[31,42,52,130],"produce":[32],"track":[34],"that":[36,108,124],"are":[37],"collision-free":[38],"with":[39,64,98],"guarantees":[40],"according":[41],"vehicle":[44,51],"model.":[45],"jointly":[48],"steers":[49],"target":[54],"region":[55],"controls":[57],"velocity":[59],"while":[60],"satisfying":[61],"constraints":[62],"associated":[63],"future":[65],"surrounding":[68],"obstacles.":[69],"We":[70],"develop":[71],"receding-horizon":[73],"implementation":[74],"policy":[78],"verify":[80],"in":[83,119],"both":[84],"simulated":[86],"road":[87],"scenario":[88],"an":[90],"experimental":[91],"validation":[92],"using":[93,101],"scaled":[95],"mobile":[96],"robot":[97],"car-like":[99],"dynamics":[100],"only":[102],"onboard":[103],"sensing.":[104],"The":[105],"results":[106],"show":[107],"our":[109],"generates":[111],"dynamically":[112],"feasible":[113],"safe":[115],"(i.e.,":[116],"collision-free)":[117],"real":[120],"time,":[121],"indicate":[123],"proposed":[126],"planner":[127],"is":[128],"robust":[129],"sensing":[131],"mapping":[133],"errors.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}