{"id":"https://openalex.org/W2993047689","doi":"https://doi.org/10.1515/auto-2019-0078","title":"Automating lane changes and collision avoidance on highways via distributed agreement","display_name":"Automating lane changes and collision avoidance on highways via distributed agreement","publication_year":2019,"publication_date":"2019-11-18","ids":{"openalex":"https://openalex.org/W2993047689","doi":"https://doi.org/10.1515/auto-2019-0078","mag":"2993047689"},"language":"en","primary_location":{"id":"doi:10.1515/auto-2019-0078","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2019-0078","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","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/A5042359759","display_name":"Fabio Molinari","orcid":"https://orcid.org/0000-0003-2617-962X"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Fabio Molinari","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002900167","display_name":"Aaron Grapentin","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aaron Grapentin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021825170","display_name":"Alexandros C. Charalampidis","orcid":"https://orcid.org/0000-0003-3260-3722"},"institutions":[{"id":"https://openalex.org/I4210100151","display_name":"Institut d'\u00c9lectronique et des Technologies du num\u00e9Rique","ror":"https://ror.org/013q33h79","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I28221208","https://openalex.org/I4210095849","https://openalex.org/I4210100151","https://openalex.org/I56067802","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexandros Charalampidis","raw_affiliation_strings":["Institut d\u2019\u00c9lectronique et de Tel\u00e9comunications de Rennes - CentraleSup\u00e9lec, France & CentraleSup\u00e9lec, Automatic Control Group - IETR , Avenue de la Boulaie , Cesson-S\u00e9vign\u00e9 , France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut d\u2019\u00c9lectronique et de Tel\u00e9comunications de Rennes - CentraleSup\u00e9lec, France & CentraleSup\u00e9lec, Automatic Control Group - IETR , Avenue de la Boulaie , Cesson-S\u00e9vign\u00e9 , France","institution_ids":["https://openalex.org/I4210100151","https://openalex.org/I4210107720"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033002944","display_name":"J\u00f6rg Raisch","orcid":"https://orcid.org/0000-0002-8724-0773"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00f6rg Raisch","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Control Systems Group , Technische Universit\u00e4t Berlin - Einsteinufer 17 , Berlin , Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042359759"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.387,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61197948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"67","issue":"12","first_page":"1047","last_page":"1057"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9995999932289124,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9976000189781189,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6851402521133423},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.679210901260376},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.63908451795578},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5872648358345032},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5723918080329895},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.54994797706604},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5485707521438599},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.5315492153167725},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5158042907714844},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.504724383354187},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4837805926799774},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4449451267719269},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3666645884513855},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3307333290576935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26025211811065674},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.22464776039123535},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11407053470611572},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06997019052505493}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6851402521133423},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.679210901260376},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.63908451795578},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5872648358345032},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5723918080329895},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.54994797706604},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5485707521438599},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.5315492153167725},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5158042907714844},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.504724383354187},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4837805926799774},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4449451267719269},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3666645884513855},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3307333290576935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26025211811065674},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.22464776039123535},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11407053470611572},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06997019052505493},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1515/auto-2019-0078","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2019-0078","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G5882674280","display_name":null,"funder_award_id":"705982","funder_id":"https://openalex.org/F4320337669","funder_display_name":"H2020 European Institute of Innovation and Technology"},{"id":"https://openalex.org/G6451263415","display_name":null,"funder_award_id":"RA516/12-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320337669","display_name":"H2020 European Institute of Innovation and Technology","ror":"https://ror.org/036dxts37"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1558979968","https://openalex.org/W1577785134","https://openalex.org/W1990311592","https://openalex.org/W2013741239","https://openalex.org/W2014861620","https://openalex.org/W2025469212","https://openalex.org/W2048186868","https://openalex.org/W2108361233","https://openalex.org/W2142544818","https://openalex.org/W2149136412","https://openalex.org/W2160643434","https://openalex.org/W2260421414","https://openalex.org/W2584373657","https://openalex.org/W2596967569","https://openalex.org/W2735823576","https://openalex.org/W2765819746","https://openalex.org/W2796120647","https://openalex.org/W2963125851","https://openalex.org/W2967339013"],"related_works":["https://openalex.org/W2322802588","https://openalex.org/W2069705450","https://openalex.org/W2401058949","https://openalex.org/W4230237643","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W2120267624","https://openalex.org/W2145006118"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"work":[2],"presents":[3],"a":[4,16,27,103],"distributed":[5,104],"hierarchical":[6],"control":[7,28],"strategy":[8],"for":[9],"fleets":[10],"of":[11],"autonomous":[12],"vehicles":[13,44],"cruising":[14,77],"on":[15,50,53,63],"highway":[17],"with":[18,67,97,116],"diverse":[19],"desired":[20,121],"speeds.":[21],"The":[22],"goal":[23],"is":[24,40],"to":[25,46,75,83,119],"design":[26],"scheme":[29],"that":[30],"can":[31],"be":[32],"employed":[33],"in":[34,102],"scenarios":[35],"where":[36,43],"only":[37],"vehicle-to-vehicle":[38],"communication":[39],"available":[41],"and":[42,48],"need":[45],"negotiate":[47],"agree":[49],"their":[51],"positions":[52],"the":[54,64,79,89,94,114,120],"road.":[55],"To":[56],"this":[57],"end,":[58],"after":[59],"reaching":[60],"an":[61,110],"agreement":[62],"lane":[65,81,122],"speed":[66],"other":[68],"traffic":[69],"participants,":[70],"each":[71],"vehicle":[72,115],"decides":[73],"whether":[74],"keep":[76],"along":[78],"current":[80],"or":[82],"move":[84],"into":[85],"another":[86],"one.":[87],"In":[88],"latter":[90],"case,":[91],"it":[92],"negotiates":[93],"entry":[95],"point":[96],"others":[98],"by":[99],"taking":[100],"part":[101],"auction.":[105],"An":[106],"onboard":[107],"controller":[108],"computes":[109],"optimal":[111],"trajectory":[112],"transferring":[113],"agreed":[117],"velocity":[118],"while":[123],"avoiding":[124],"collisions.":[125]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
