{"id":"https://openalex.org/W4409991141","doi":"https://doi.org/10.1109/tro.2025.3566198","title":"Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning","display_name":"Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409991141","doi":"https://doi.org/10.1109/tro.2025.3566198"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3566198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3566198","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/A5039805672","display_name":"Iman Askari","orcid":"https://orcid.org/0000-0002-2787-554X"},"institutions":[{"id":"https://openalex.org/I146416000","display_name":"University of Kansas","ror":"https://ror.org/001tmjg57","country_code":"US","type":"education","lineage":["https://openalex.org/I146416000"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Iman Askari","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA"],"raw_orcid":"https://orcid.org/0000-0002-2787-554X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA","institution_ids":["https://openalex.org/I146416000"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ali Vaziri","orcid":"https://orcid.org/0009-0006-6301-855X"},"institutions":[{"id":"https://openalex.org/I146416000","display_name":"University of Kansas","ror":"https://ror.org/001tmjg57","country_code":"US","type":"education","lineage":["https://openalex.org/I146416000"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Vaziri","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA"],"raw_orcid":"https://orcid.org/0009-0006-6301-855X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA","institution_ids":["https://openalex.org/I146416000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009472962","display_name":"Xuemin Tu","orcid":null},"institutions":[{"id":"https://openalex.org/I146416000","display_name":"University of Kansas","ror":"https://ror.org/001tmjg57","country_code":"US","type":"education","lineage":["https://openalex.org/I146416000"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuemin Tu","raw_affiliation_strings":["Department of Mathematics, University of Kansas, Lawrence, KS, USA"],"raw_orcid":"https://orcid.org/0000-0003-2220-4322","affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Kansas, Lawrence, KS, USA","institution_ids":["https://openalex.org/I146416000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081900408","display_name":"Shen Zeng","orcid":"https://orcid.org/0000-0001-5450-8975"},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shen Zeng","raw_affiliation_strings":["Department of Electrical and Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA","Department of Electrical &amp; Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA"],"raw_orcid":"https://orcid.org/0000-0001-5450-8975","affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]},{"raw_affiliation_string":"Department of Electrical &amp; Systems Engineering, Washington University in St. Louis, St. Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049358578","display_name":"Huazhen Fang","orcid":"https://orcid.org/0000-0003-4759-1672"},"institutions":[{"id":"https://openalex.org/I146416000","display_name":"University of Kansas","ror":"https://ror.org/001tmjg57","country_code":"US","type":"education","lineage":["https://openalex.org/I146416000"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huazhen Fang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA"],"raw_orcid":"https://orcid.org/0000-0003-4759-1672","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kansas, Lawrence, KS, USA","institution_ids":["https://openalex.org/I146416000"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039805672"],"corresponding_institution_ids":["https://openalex.org/I146416000"],"apc_list":null,"apc_paid":null,"fwci":10.1992,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.98287737,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"3202","last_page":"3222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8809999823570251,"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":0.8809999823570251,"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/T12810","display_name":"Real-time simulation and control systems","score":0.8708999752998352,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.8626000285148621,"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/model-predictive-control","display_name":"Model predictive control","score":0.7276005744934082},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6253467202186584},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5948854684829712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5566427111625671},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4874437153339386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4851842522621155},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47850337624549866},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4653765559196472},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46495330333709717},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45965877175331116},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44903871417045593},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43470925092697144},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4168583154678345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31017300486564636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27821624279022217},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18421697616577148},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09079787135124207}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7276005744934082},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6253467202186584},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5948854684829712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5566427111625671},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4874437153339386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4851842522621155},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47850337624549866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4653765559196472},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46495330333709717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45965877175331116},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44903871417045593},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43470925092697144},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4168583154678345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31017300486564636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27821624279022217},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18421697616577148},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09079787135124207},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3566198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3566198","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":"Sustainable cities and communities","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3077538630","display_name":null,"funder_award_id":"W911NF-24-2-0163","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G709501536","display_name":null,"funder_award_id":"CMMI-1847651","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7779846035","display_name":null,"funder_award_id":"W911NF-22-2-0207","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W369713157","https://openalex.org/W1483307070","https://openalex.org/W1587371456","https://openalex.org/W1968651858","https://openalex.org/W1971086298","https://openalex.org/W1978879785","https://openalex.org/W2003835006","https://openalex.org/W2004767122","https://openalex.org/W2017170340","https://openalex.org/W2030005314","https://openalex.org/W2043962331","https://openalex.org/W2066864879","https://openalex.org/W2093524643","https://openalex.org/W2105934661","https://openalex.org/W2107464055","https://openalex.org/W2107662876","https://openalex.org/W2112271657","https://openalex.org/W2123871098","https://openalex.org/W2128990851","https://openalex.org/W2143558629","https://openalex.org/W2144519176","https://openalex.org/W2155772159","https://openalex.org/W2165216595","https://openalex.org/W2343568200","https://openalex.org/W2396317032","https://openalex.org/W2465192128","https://openalex.org/W2512479688","https://openalex.org/W2529203031","https://openalex.org/W2530152346","https://openalex.org/W2564091245","https://openalex.org/W2571503750","https://openalex.org/W2584986912","https://openalex.org/W2619551236","https://openalex.org/W2741222326","https://openalex.org/W2774021736","https://openalex.org/W2792491297","https://openalex.org/W2807301194","https://openalex.org/W2842089854","https://openalex.org/W2923554444","https://openalex.org/W2924607344","https://openalex.org/W2924817260","https://openalex.org/W2946231253","https://openalex.org/W2962872206","https://openalex.org/W2963139193","https://openalex.org/W2963238245","https://openalex.org/W2964103113","https://openalex.org/W2992833799","https://openalex.org/W3107715352","https://openalex.org/W3119715644","https://openalex.org/W3134987525","https://openalex.org/W3145073221","https://openalex.org/W3181376804","https://openalex.org/W3184440727","https://openalex.org/W4232464081","https://openalex.org/W4236076921","https://openalex.org/W4239125046","https://openalex.org/W4280505053","https://openalex.org/W4280564281","https://openalex.org/W4285060570","https://openalex.org/W4312969010","https://openalex.org/W4315797158","https://openalex.org/W4321380998","https://openalex.org/W4377715605","https://openalex.org/W4382935896","https://openalex.org/W4382936117","https://openalex.org/W4388675089","https://openalex.org/W6605295560","https://openalex.org/W6688688956","https://openalex.org/W6750186571","https://openalex.org/W6765121789","https://openalex.org/W6768720322","https://openalex.org/W6839066868"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W128654086","https://openalex.org/W2067790096"],"abstract_inverted_index":{"Model":[0],"predictive":[1,76],"control":[2,78,86,90],"(MPC)":[3],"has":[4,175],"proven":[5],"useful":[6],"in":[7,156],"enabling":[8],"safe":[9],"and":[10,48,92,134,141,184],"optimal":[11],"motion":[12,26,103],"planning":[13,27,104],"for":[14,102,192],"autonomous":[15,154],"vehicles.":[16],"In":[17,67],"this":[18,95],"paper,":[19],"we":[20,70,97,112],"investigate":[21],"how":[22],"to":[23,44,58,63,82,120,187],"achieve":[24],"MPC-based":[25],"when":[28],"a":[29,68,106,114,150],"neural":[30,39,181,193],"state-space":[31,40,194],"model":[32,41,75],"represents":[33],"the":[34,38,72,84,89,99,122,146,172,185],"vehicle":[35],"dynamics.":[36],"As":[37],"will":[42,56],"lead":[43],"highly":[45],"complex,":[46],"nonlinear":[47],"nonconvex":[49],"optimization":[50],"landscapes,":[51],"mainstream":[52],"gradient-based":[53,165],"MPC":[54,100,190],"methods":[55],"struggle":[57],"provide":[59],"viable":[60],"solutions":[61],"due":[62],"heavy":[64],"computational":[65,177],"load.":[66],"departure,":[69],"propose":[71],"idea":[73],"of":[74,130,153],"inferential":[77],"(MPIC),":[79],"which":[80],"seeks":[81],"infer":[83],"best":[85],"decisions":[87],"from":[88],"objectives":[91],"constraints.":[93],"Following":[94],"idea,":[96],"convert":[98],"problem":[101],"into":[105],"Bayesian":[107],"state":[108],"estimation":[109,142],"problem.":[110],"Then,":[111],"develop":[113],"new":[115],"implicit":[116],"particle":[117],"filtering/smoothing":[118],"approach":[119,125,148,174],"perform":[121],"estimation.":[123],"This":[124],"is":[126],"implemented":[127],"as":[128],"banks":[129],"unscented":[131],"Kalman":[132],"filters/smoothers":[133],"offers":[135],"high":[136],"sampling":[137],"efficiency,":[138],"fast":[139],"computation,":[140],"accuracy.":[143],"We":[144],"evaluate":[145],"MPIC":[147,173],"through":[149],"simulation":[151,168],"study":[152],"driving":[155],"different":[157],"scenarios,":[158],"along":[159],"with":[160,164],"an":[161],"exhaustive":[162],"comparison":[163],"MPC.":[166],"The":[167],"results":[169],"show":[170],"that":[171],"considerable":[176],"efficiency":[178],"despite":[179],"complex":[180],"network":[182],"architectures":[183],"capability":[186],"solve":[188],"large-scale":[189],"problems":[191],"models.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
