{"id":"https://openalex.org/W4362658909","doi":"https://doi.org/10.1515/auto-2022-0158","title":"Optimization-based motion primitive automata for autonomous driving","display_name":"Optimization-based motion primitive automata for autonomous driving","publication_year":2023,"publication_date":"2023-04-01","ids":{"openalex":"https://openalex.org/W4362658909","doi":"https://doi.org/10.1515/auto-2022-0158"},"language":"en","primary_location":{"id":"doi:10.1515/auto-2022-0158","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2022-0158","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2401.14276","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060007047","display_name":"Matheus V. A. Pedrosa","orcid":"https://orcid.org/0000-0001-5238-7786"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Matheus V. A. Pedrosa","raw_affiliation_strings":["Chair of Systems Modeling and Simulation, Systems Engineering , Saarland University , Saarbr\u00fccken , Germany"],"raw_orcid":"https://orcid.org/0000-0001-5238-7786","affiliations":[{"raw_affiliation_string":"Chair of Systems Modeling and Simulation, Systems Engineering , Saarland University , Saarbr\u00fccken , Germany","institution_ids":["https://openalex.org/I91712215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066508778","display_name":"Patrick Scheffe","orcid":"https://orcid.org/0000-0002-2707-198X"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Scheffe","raw_affiliation_strings":["Chair for Embedded Software , RWTH Aachen University , Aachen , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Embedded Software , RWTH Aachen University , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087905706","display_name":"Bassam Alrifaee","orcid":"https://orcid.org/0000-0002-5982-021X"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bassam Alrifaee","raw_affiliation_strings":["Chair for Embedded Software , RWTH Aachen University , Aachen , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair for Embedded Software , RWTH Aachen University , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043362659","display_name":"Kathrin Fla\u00dfkamp","orcid":"https://orcid.org/0000-0001-5983-1907"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kathrin Fla\u00dfkamp","raw_affiliation_strings":["Chair of Systems Modeling and Simulation, Systems Engineering , Saarland University , Saarbr\u00fccken , Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Systems Modeling and Simulation, Systems Engineering , Saarland University , Saarbr\u00fccken , Germany","institution_ids":["https://openalex.org/I91712215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060007047"],"corresponding_institution_ids":["https://openalex.org/I91712215"],"apc_list":null,"apc_paid":null,"fwci":0.1064,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33753718,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"71","issue":"4","first_page":"294","last_page":"300"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T10142","display_name":"Formal Methods in Verification","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/automaton","display_name":"Automaton","score":0.7646452188491821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6213456988334656},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6126338243484497},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6096363067626953},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5662436485290527},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"Multi-objective optimization","score":0.5101697444915771},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.507961094379425},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5055067539215088},{"id":"https://openalex.org/keywords/pareto-principle","display_name":"Pareto principle","score":0.47420576214790344},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4547012746334076},{"id":"https://openalex.org/keywords/hybrid-automaton","display_name":"Hybrid automaton","score":0.4533414840698242},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4475095868110657},{"id":"https://openalex.org/keywords/pareto-optimal","display_name":"Pareto optimal","score":0.4338308572769165},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2707170248031616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23597970604896545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22064027190208435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16541451215744019}],"concepts":[{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.7646452188491821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6213456988334656},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6126338243484497},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6096363067626953},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5662436485290527},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.5101697444915771},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.507961094379425},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5055067539215088},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.47420576214790344},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4547012746334076},{"id":"https://openalex.org/C2776028153","wikidata":"https://www.wikidata.org/wiki/Q5953179","display_name":"Hybrid automaton","level":3,"score":0.4533414840698242},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4475095868110657},{"id":"https://openalex.org/C2986314615","wikidata":"https://www.wikidata.org/wiki/Q36829","display_name":"Pareto optimal","level":3,"score":0.4338308572769165},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2707170248031616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23597970604896545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22064027190208435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16541451215744019},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1515/auto-2022-0158","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2022-0158","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"},{"id":"pmh:oai:arXiv.org:2401.14276","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.14276","pdf_url":"https://arxiv.org/pdf/2401.14276","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2401.14276","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.14276","pdf_url":"https://arxiv.org/pdf/2401.14276","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G4371934125","display_name":null,"funder_award_id":"KO 1430/17-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G8599740047","display_name":null,"funder_award_id":"SPP 1835","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"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4362658909.pdf"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W2153219011","https://openalex.org/W2619369944","https://openalex.org/W2740508249","https://openalex.org/W2804403788","https://openalex.org/W2975560546","https://openalex.org/W3016633900","https://openalex.org/W3102725979","https://openalex.org/W3154210393","https://openalex.org/W4207039171","https://openalex.org/W4242433469","https://openalex.org/W4281659136","https://openalex.org/W4283379771","https://openalex.org/W4285446101","https://openalex.org/W4308080611"],"related_works":["https://openalex.org/W1963790170","https://openalex.org/W2073298047","https://openalex.org/W2033790662","https://openalex.org/W2090178682","https://openalex.org/W2586328217","https://openalex.org/W2049264236","https://openalex.org/W2001591765","https://openalex.org/W4241467429","https://openalex.org/W2073147994","https://openalex.org/W1588199609"],"abstract_inverted_index":{"Abstract":[0],"Trajectory":[1],"planning":[2,74],"for":[3],"autonomous":[4],"cars":[5],"can":[6,58],"be":[7,35,44,59],"addressed":[8],"by":[9],"primitive-based":[10],"methods,":[11],"which":[12,57],"encode":[13],"nonlinear":[14],"dynamical":[15],"system":[16],"behavior":[17],"into":[18,37],"automata.":[19],"In":[20],"this":[21],"paper,":[22],"we":[23,52],"focus":[24],"on":[25],"optimal":[26],"trajectory":[27],"planning.":[28,68],"Since,":[29],"typically,":[30],"multiple":[31],"criteria":[32,66],"have":[33,42],"to":[34,43,64],"taken":[36],"account,":[38],"multiobjective":[39],"optimization":[40],"problems":[41],"solved.":[45],"For":[46],"the":[47],"resulting":[48],"Pareto-optimal":[49],"motion":[50],"primitives,":[51],"introduce":[53],"a":[54,71],"universal":[55],"automaton,":[56],"reduced":[60],"or":[61],"reconfigured":[62],"according":[63],"prioritized":[65],"during":[67],"We":[69],"evaluate":[70],"corresponding":[72],"multi-vehicle":[73],"scenario":[75],"with":[76],"both":[77],"simulations":[78],"and":[79],"laboratory":[80],"experiments.":[81]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}