{"id":"https://openalex.org/W3045935457","doi":"https://doi.org/10.23919/acc45564.2020.9147786","title":"Accurate Trajectory Following for Automated Vehicles in Dynamic Environments","display_name":"Accurate Trajectory Following for Automated Vehicles in Dynamic Environments","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045935457","doi":"https://doi.org/10.23919/acc45564.2020.9147786","mag":"3045935457"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147786","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-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/A5072127649","display_name":"Huckleberry Febbo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huckleberry Febbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5063634505","display_name":"David Isele","orcid":"https://orcid.org/0000-0001-9749-6951"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Isele","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2038,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54410327,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2012","last_page":"2017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9986000061035156,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/trajectory","display_name":"Trajectory","score":0.9008011817932129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7061128616333008},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.562878429889679},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5519607663154602},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5048843026161194},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49489229917526245},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49298402667045593},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.48683732748031616},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4599200487136841},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4561939835548401},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4400850236415863},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26754626631736755},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19231721758842468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18641871213912964}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9008011817932129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7061128616333008},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.562878429889679},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5519607663154602},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5048843026161194},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49489229917526245},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49298402667045593},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.48683732748031616},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4599200487136841},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4561939835548401},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4400850236415863},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26754626631736755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19231721758842468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18641871213912964},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9147786","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1578293866","https://openalex.org/W1592601589","https://openalex.org/W1717366851","https://openalex.org/W1878563552","https://openalex.org/W1918816242","https://openalex.org/W1977164425","https://openalex.org/W1994309501","https://openalex.org/W1997704083","https://openalex.org/W2003835006","https://openalex.org/W2106851097","https://openalex.org/W2117496471","https://openalex.org/W2165693128","https://openalex.org/W2166446174","https://openalex.org/W2192586580","https://openalex.org/W2221321873","https://openalex.org/W2515319037","https://openalex.org/W2529203031","https://openalex.org/W2620197950","https://openalex.org/W2735167925","https://openalex.org/W2773356145","https://openalex.org/W3003380162","https://openalex.org/W3105558219","https://openalex.org/W4255749368","https://openalex.org/W4287862982","https://openalex.org/W4389324858","https://openalex.org/W6649654720","https://openalex.org/W6684528527","https://openalex.org/W6740976553","https://openalex.org/W6773478106","https://openalex.org/W6774058391","https://openalex.org/W6858930168"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2119925415"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,61],"accurate":[4],"nonlinear":[5],"model":[6],"predictive":[7],"control-based":[8],"algorithm":[9,16,89,107],"for":[10],"trajectory":[11,46,51,105],"following.":[12],"For":[13],"accuracy,":[14],"the":[15,19,50,82,87,100,104,109,112],"incorporates":[17],"both":[18],"planned":[20,113],"state":[21,114],"and":[22,75,80,96],"control":[23,35,65,78,101],"trajectories":[24,36,102,115],"into":[25,37],"its":[26],"cost":[27,39],"functional.":[28],"Current":[29],"following":[30,47,106],"algorithms":[31],"do":[32],"not":[33],"incorporate":[34],"their":[38],"functionals.":[40],"Comparisons":[41],"are":[42],"made":[43],"against":[44],"two":[45],"algorithms,":[48],"where":[49],"planning":[52],"problem":[53],"is":[54],"to":[55],"safely":[56],"follow":[57,111],"a":[58,68],"person":[59],"using":[60],"automated":[62],"ATV":[63],"with":[64,103],"delays":[66],"in":[67,123],"dynamic":[69,124],"environment":[70],"while":[71],"simultaneously":[72],"optimizing":[73],"speed":[74],"steering,":[76],"minimizing":[77,81],"effort,":[79],"time-to-goal.":[83,97],"Results":[84],"indicate":[85],"that":[86],"proposed":[88],"reduces":[90],"collisions,":[91],"tracking":[92,99],"error,":[93,95],"orientation":[94],"Therefore,":[98],"helps":[108],"vehicle":[110],"more":[116],"accurately,":[117],"which":[118],"ultimately":[119],"improves":[120],"safety,":[121],"especially":[122],"environments.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
