{"id":"https://openalex.org/W4391892446","doi":"https://doi.org/10.1109/tro.2024.3366819","title":"REFINE: Reachability-Based Trajectory Design Using Robust Feedback Linearization and Zonotopes","display_name":"REFINE: Reachability-Based Trajectory Design Using Robust Feedback Linearization and Zonotopes","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391892446","doi":"https://doi.org/10.1109/tro.2024.3366819"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3366819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3366819","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5079709198","display_name":"Jinsun Liu","orcid":"https://orcid.org/0000-0003-2067-4144"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jinsun Liu","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050724515","display_name":"Yifei Shao","orcid":"https://orcid.org/0000-0001-9335-7268"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifei Simon Shao","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029329909","display_name":"Lucas Lymburner","orcid":"https://orcid.org/0000-0001-8894-8397"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lucas Lymburner","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024775468","display_name":"Hansen Qin","orcid":"https://orcid.org/0000-0003-2403-0151"},"institutions":[{"id":"https://openalex.org/I4210159994","display_name":"Latitude Pharmaceuticals (United States)","ror":"https://ror.org/05qtmfe82","country_code":"US","type":"company","lineage":["https://openalex.org/I4210159994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hansen Qin","raw_affiliation_strings":["Latitude AI, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Latitude AI, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I4210159994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050724195","display_name":"Vishrut Kaushik","orcid":"https://orcid.org/0000-0001-9410-2371"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vishrut Kaushik","raw_affiliation_strings":["Peer Robotics, New Haven, CT, USA"],"affiliations":[{"raw_affiliation_string":"Peer Robotics, New Haven, CT, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024681939","display_name":"Lena Trang","orcid":"https://orcid.org/0009-0000-3004-9639"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lena Trang","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077217479","display_name":"R. Wang","orcid":"https://orcid.org/0000-0002-8926-1949"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruiyang Wang","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103199783","display_name":"Vladimir Ivanovi\u0107","orcid":"https://orcid.org/0009-0006-1824-278X"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vladimir Ivanovic","raw_affiliation_strings":["Ford Motor Company, Canton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Ford Motor Company, Canton, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002740588","display_name":"H. Eric Tseng","orcid":"https://orcid.org/0000-0001-5087-9592"},"institutions":[{"id":"https://openalex.org/I1292974536","display_name":"Ford Motor Company (United States)","ror":"https://ror.org/00g2tkw06","country_code":"US","type":"company","lineage":["https://openalex.org/I1292974536"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Eric Tseng","raw_affiliation_strings":["Ford Motor Company, Canton, MI, USA"],"affiliations":[{"raw_affiliation_string":"Ford Motor Company, Canton, MI, USA","institution_ids":["https://openalex.org/I1292974536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5079709198"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.9943,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.8685968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"40","issue":null,"first_page":"2060","last_page":"2080"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/reachability","display_name":"Reachability","score":0.9177757501602173},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7742066383361816},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.680380642414093},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6354202032089233},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6212198138237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5564517974853516},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.417675256729126},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.369348406791687},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3304794430732727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24812939763069153},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22753790020942688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19044378399848938},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15289658308029175},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09970584511756897},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08446577191352844}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9177757501602173},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7742066383361816},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.680380642414093},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6354202032089233},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6212198138237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5564517974853516},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.417675256729126},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.369348406791687},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3304794430732727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24812939763069153},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22753790020942688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19044378399848938},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15289658308029175},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09970584511756897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08446577191352844},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3366819","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3366819","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G3403377537","display_name":null,"funder_award_id":"1751093","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W595289004","https://openalex.org/W1424654272","https://openalex.org/W1525133041","https://openalex.org/W1749494163","https://openalex.org/W1864112212","https://openalex.org/W1998125311","https://openalex.org/W2000359213","https://openalex.org/W2013753693","https://openalex.org/W2021667711","https://openalex.org/W2048922416","https://openalex.org/W2055201760","https://openalex.org/W2123871098","https://openalex.org/W2130527887","https://openalex.org/W2163411428","https://openalex.org/W2165216595","https://openalex.org/W2169528473","https://openalex.org/W2406067508","https://openalex.org/W2501269035","https://openalex.org/W2604410735","https://openalex.org/W2750147881","https://openalex.org/W2887852696","https://openalex.org/W2889303219","https://openalex.org/W2890356250","https://openalex.org/W2962822210","https://openalex.org/W2963488412","https://openalex.org/W2964040381","https://openalex.org/W2966497375","https://openalex.org/W2990212897","https://openalex.org/W3040197514","https://openalex.org/W3054438628","https://openalex.org/W3065468121","https://openalex.org/W3081975785","https://openalex.org/W3086854072","https://openalex.org/W3090768122","https://openalex.org/W3100817193","https://openalex.org/W3163007727","https://openalex.org/W4231343990","https://openalex.org/W4248682112","https://openalex.org/W4249492311","https://openalex.org/W4297913868","https://openalex.org/W4297988360","https://openalex.org/W4299825255","https://openalex.org/W6607241724","https://openalex.org/W6650486461","https://openalex.org/W6731923558","https://openalex.org/W6743558609","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W2131265573","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2317650444"],"abstract_inverted_index":{"Performing":[0],"real-time":[1,44],"receding":[2],"horizon":[3],"motion":[4],"planning":[5],"for":[6],"autonomous":[7],"vehicles":[8],"while":[9],"providing":[10],"safety":[11],"guarantees":[12],"remains":[13],"difficult.":[14],"This":[15,107],"is":[16,81,144,167,182,188,202,218,240],"because":[17],"existing":[18,120,237],"methods":[19,207],"to":[20,55,60,87,101,114,153,169,196,204,236,242,246],"accurately":[21],"predict":[22,62],"ego":[23,67],"vehicle":[24,132,151,215,245],"behavior":[25,64,80],"under":[26],"a":[27,36,76,93,110,124,179,209,213,221],"chosen":[28],"controller":[29,127],"use":[30],"online":[31,191],"numerical":[32],"integration":[33],"that":[34,128],"requires":[35],"fine":[37],"time":[38],"discretization":[39],"and":[40,217],"thereby":[41],"adversely":[42],"affects":[43],"performance.":[45],"To":[46],"address":[47],"this":[48,104],"limitation,":[49],"several":[50,205],"recent":[51],"papers":[52],"have":[53],"proposed":[54,200],"apply":[56],"offline":[57,154],"reachability":[58,142,165],"analysis":[59,143,166],"conservatively":[61,88],"the":[63,66,90,116,131,136,148,156,170,173,244],"of":[65,92,118,138],"vehicle.":[68],"Reachable":[69,161],"sets":[70],"can":[71,98],"be":[72,99],"constructed":[73],"by":[74,177],"utilizing":[75],"simplified":[77,180],"model":[78,181,216],"whose":[79],"assumed":[82],"<italic":[83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84,223],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">a":[85],"priori</i>":[86],"bound":[89],"dynamics":[91,133,152],"full-order":[94,150,171],"model.":[95],"However,":[96],"it":[97],"challenging":[100],"meticulously":[102],"construct":[103],"conservative":[105],"bound.":[106],"paper":[108],"proposes":[109],"framework":[111,195],"named":[112],"REFINE":[113,122,239],"overcome":[115],"limitations":[117],"these":[119],"approaches.":[121],"utilizes":[123],"parameterized":[125],"robust":[126],"partially":[129],"linearizes":[130],"even":[134],"in":[135,192,230],"presence":[137],"modeling":[139],"error.":[140],"Zonotope-based":[141],"then":[145,189],"performed":[146],"on":[147,212,220],"closed-loop,":[149],"compute":[155],"corresponding":[157],"control-parameterized,":[158],"over-approximate":[159],"Forward":[160],"Sets":[162],"(FRS).":[163],"Because":[164],"applied":[168],"model,":[172],"potential":[174],"conservativeness":[175],"introduced":[176],"using":[178],"avoided.":[183],"The":[184,199],"pre-computed,":[185],"control-parameterized":[186],"FRS":[187],"used":[190],"an":[193],"optimization":[194],"ensure":[197],"safety.":[198],"method":[201],"compared":[203],"state-of-the-art":[206],"during":[208],"simulation-based":[210],"evaluation":[211],"full-size":[214],"demonstrated":[219],"<inline-formula":[222],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[224],"notation=\"LaTeX\">$\\frac{1}{10}$</tex-math></inline-formula>":[225],"th":[226],"race":[227],"car":[228],"robot":[229],"real":[231],"hardware":[232],"testing.":[233],"In":[234],"contrast":[235],"methods,":[238],"shown":[241],"enable":[243],"safely":[247],"navigate":[248],"itself":[249],"through":[250],"complex":[251],"environments.":[252]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}