{"id":"https://openalex.org/W2913985264","doi":"https://doi.org/10.23919/acc.2019.8814853","title":"Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity Model of an Autonomous Passenger Vehicle","display_name":"Guaranteed Safe Reachability-based Trajectory Design for a High-Fidelity Model of an Autonomous Passenger Vehicle","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2913985264","doi":"https://doi.org/10.23919/acc.2019.8814853","mag":"2913985264"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2019.8814853","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1902.01786","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110603244","display_name":"Sean Vaskov","orcid":null},"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":"Sean Vaskov","raw_affiliation_strings":["Mechanical Engineering, University of Michigan, Ann Arbor, MI","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101582108","display_name":"Utkarsh Sharma","orcid":"https://orcid.org/0000-0002-0125-4702"},"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":"Utkarsh Sharma","raw_affiliation_strings":["Integrative Systems + Design, University of Michigan, Ann Arbor, MI","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Integrative Systems + Design, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019247599","display_name":"Shreyas Kousik","orcid":"https://orcid.org/0000-0003-1348-7463"},"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":"Shreyas Kousik","raw_affiliation_strings":["Mechanical Engineering, University of Michigan, Ann Arbor, MI","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"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":"Matthew Johnson-Roberson","raw_affiliation_strings":["Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]},{"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":"Ramanarayan Vasudevan","raw_affiliation_strings":["Mechanical Engineering, University of Michigan, Ann Arbor, MI","\u2020University of Michigan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"\u2020University of Michigan","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"705","last_page":"710"},"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":0.9991999864578247,"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/T10142","display_name":"Formal Methods in Verification","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.755976676940918},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7513543367385864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5616710782051086},{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.4835326671600342},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4642636775970459},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.4367215037345886},{"id":"https://openalex.org/keywords/powertrain","display_name":"Powertrain","score":0.43527597188949585},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3754720687866211},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3753267526626587},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29630160331726074},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2867300510406494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20040664076805115},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.0922555923461914},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08430790901184082}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.755976676940918},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7513543367385864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5616710782051086},{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.4835326671600342},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4642636775970459},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.4367215037345886},{"id":"https://openalex.org/C76047896","wikidata":"https://www.wikidata.org/wiki/Q1786258","display_name":"Powertrain","level":3,"score":0.43527597188949585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3754720687866211},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3753267526626587},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29630160331726074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2867300510406494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20040664076805115},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.0922555923461914},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08430790901184082},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/acc.2019.8814853","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8814853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1902.01786","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1902.01786","pdf_url":"https://arxiv.org/pdf/1902.01786","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.1902.01786","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1902.01786","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1902.01786","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1902.01786","pdf_url":"https://arxiv.org/pdf/1902.01786","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":null,"license_id":null,"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","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8182716335","display_name":null,"funder_award_id":"N022977","funder_id":"https://openalex.org/F4320307103","funder_display_name":"Ford Motor Company"}],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2913985264.pdf","grobid_xml":"https://content.openalex.org/works/W2913985264.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W595289004","https://openalex.org/W1504992226","https://openalex.org/W1559197676","https://openalex.org/W1578293866","https://openalex.org/W1878563552","https://openalex.org/W1971086298","https://openalex.org/W1990311592","https://openalex.org/W2003571098","https://openalex.org/W2019348145","https://openalex.org/W2055201760","https://openalex.org/W2057789475","https://openalex.org/W2073044575","https://openalex.org/W2130527887","https://openalex.org/W2152724075","https://openalex.org/W2165216595","https://openalex.org/W2166446174","https://openalex.org/W2192586580","https://openalex.org/W2414947275","https://openalex.org/W2492066231","https://openalex.org/W2505763307","https://openalex.org/W2589869525","https://openalex.org/W2604410735","https://openalex.org/W2891736816","https://openalex.org/W2949778422","https://openalex.org/W2951930445","https://openalex.org/W2962822210","https://openalex.org/W2963488412","https://openalex.org/W4244440284"],"related_works":["https://openalex.org/W2973179594","https://openalex.org/W2061469207","https://openalex.org/W2963488412","https://openalex.org/W3128921446","https://openalex.org/W2374411761","https://openalex.org/W3166956873","https://openalex.org/W3122693939","https://openalex.org/W3199284950","https://openalex.org/W2345387272","https://openalex.org/W2923061088","https://openalex.org/W3197516650","https://openalex.org/W3113447964","https://openalex.org/W3096112864","https://openalex.org/W2756939453","https://openalex.org/W2190016588","https://openalex.org/W3208807190","https://openalex.org/W3045935457","https://openalex.org/W2069305510","https://openalex.org/W2410630689","https://openalex.org/W2104532622"],"abstract_inverted_index":{"Trajectory":[0,44],"planning":[1,25],"is":[2,23,26,41,47,106,152],"challenging":[3],"for":[4,54],"autonomous":[5],"cars":[6],"since":[7],"they":[8],"operate":[9],"in":[10,28,85,112,176,179],"unpredictable":[11],"environments":[12],"with":[13,31,114,154],"limited":[14],"sensor":[15,149],"horizons.":[16],"To":[17],"incorporate":[18],"new":[19],"information":[20],"as":[21,37],"it":[22],"sensed,":[24],"done":[27],"a":[29,48,86,109,115,134,155,161],"loop,":[30],"the":[32,38,68,78,90,125,143,182],"next":[33],"plan":[34,40,173],"being":[35],"computed":[36],"previous":[39],"executed.":[42],"Reachability-based":[43],"Design":[45],"(RTD)":[46],"recent,":[49],"provably":[50],"safe,":[51],"realtime":[52],"algorithm":[53],"trajectory":[55,75],"planning.":[56],"RTD":[57,92,107,123,151],"consists":[58],"of":[59,67,103],"an":[60],"offline":[61],"Forward":[62],"Reachable":[63],"Set":[64],"(FRS)":[65],"computation":[66],"vehicle":[69,111,126,144],"tracking":[70],"parameterized":[71],"trajectories;":[72],"and":[73,120,160],"online":[74],"optimization":[76],"using":[77],"FRS":[79],"to":[80,83,97,130,142,172,181],"map":[81],"obstacles":[82,139],"constraints":[84],"provably-safe":[87],"way.":[88],"In":[89],"literature,":[91],"has":[93],"only":[94,140],"been":[95],"applied":[96],"small":[98],"mobile":[99],"robots.":[100],"The":[101,167],"contribution":[102],"this":[104],"work":[105],"on":[108,133],"passenger":[110],"CarSim,":[113],"full":[116],"powertrain":[117],"model,":[118],"chassis":[119],"tire":[121],"dynamics.":[122],"operates":[124],"safely":[127],"at":[128],"up":[129],"15":[131],"m/s":[132],"two-lane":[135],"road":[136],"around":[137],"randomly-placed":[138],"known":[141],"when":[145],"detected":[146],"within":[147],"its":[148],"horizon.":[150],"compared":[153],"Nonlinear":[156],"Model-Predictive":[157],"Control":[158],"(NMPC)":[159],"Rapidly-exploring":[162],"Random":[163],"Tree":[164],"(RRT)":[165],"approach.":[166],"experiment":[168],"demonstrates":[169],"RTD's":[170],"ability":[171],"safe":[174],"trajectories":[175],"real":[177],"time,":[178],"contrast":[180],"existing":[183],"state-of-the-art":[184],"approaches.":[185]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}