{"id":"https://openalex.org/W4294691909","doi":"https://doi.org/10.23919/acc53348.2022.9867764","title":"Corridor MPC: Towards Optimal and Safe Trajectory Tracking","display_name":"Corridor MPC: Towards Optimal and Safe Trajectory Tracking","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294691909","doi":"https://doi.org/10.23919/acc53348.2022.9867764"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867764","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867764","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-309257","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001505700","display_name":"Pedro Roque","orcid":"https://orcid.org/0000-0002-9341-2228"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"P. Roque","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086973139","display_name":"Wenceslao Shaw Cortez","orcid":"https://orcid.org/0000-0002-1809-5656"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"W. Shaw Cortez","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027184150","display_name":"Lars Lindemann","orcid":"https://orcid.org/0000-0003-3430-6625"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"L. Lindemann","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,PA,USA","Department of Electrical and Systems Engineering, University of Pennsylvania, PA, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"D. V. Dimarogonas","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001505700"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":4.2348,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.96423908,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2025","last_page":"2032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9962999820709229,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9765999913215637,"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/trajectory","display_name":"Trajectory","score":0.9271159172058105},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6904793977737427},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6671682000160217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6495327949523926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6020992994308472},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5675206780433655},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5282670259475708},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4386468827724457},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42611005902290344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13946077227592468},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10535255074501038}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9271159172058105},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6904793977737427},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6671682000160217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6495327949523926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6020992994308472},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5675206780433655},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5282670259475708},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4386468827724457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42611005902290344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13946077227592468},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10535255074501038},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc53348.2022.9867764","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867764","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:kth-309257","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-309257","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Manuscript (preprint)"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-309257","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-309257","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Manuscript (preprint)"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W160881533","https://openalex.org/W1494024620","https://openalex.org/W1970411044","https://openalex.org/W2041109651","https://openalex.org/W2066425650","https://openalex.org/W2152136198","https://openalex.org/W2241352138","https://openalex.org/W2566570513","https://openalex.org/W2620840602","https://openalex.org/W2765203865","https://openalex.org/W2841721725","https://openalex.org/W2902951512","https://openalex.org/W2968945909","https://openalex.org/W2972864268","https://openalex.org/W2988271954","https://openalex.org/W2991303041","https://openalex.org/W3039984786","https://openalex.org/W3104125907","https://openalex.org/W3186317065","https://openalex.org/W4239216443","https://openalex.org/W4243385754","https://openalex.org/W4292249799","https://openalex.org/W4302436361"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,37,43,47,93],"framework":[3,89],"for":[4,63],"safe":[5],"and":[6,15,28,75],"optimal":[7],"trajectory":[8],"tracking":[9],"by":[10],"combining":[11],"Model":[12],"Predictive":[13],"Control":[14,17,53],"Sampled-Data":[16,52],"Barrier":[18,54],"functions.":[19],"This":[20],"framework,":[21,59],"which":[22],"we":[23,60],"call":[24],"Corridor":[25],"MPC,":[26],"safely":[27],"robustly":[29],"keeps":[30],"the":[31,34,64,68,73,79,84],"state":[32],"of":[33,70,81],"system":[35,66],"within":[36,72],"corridor":[38,74],"that":[39],"is":[40,90],"defined":[41],"as":[42],"permissible":[44],"error":[45],"around":[46],"reference":[48,85],"trajectory.":[49,86],"By":[50],"incorporating":[51],"functions":[55],"into":[56],"an":[57],"MPC":[58],"guarantee":[61],"safety":[62],"continuous-time":[65],"in":[67,78],"sense":[69,80],"staying":[71],"practical":[76],"stability":[77],"converging":[82],"to":[83],"The":[87],"proposed":[88],"evaluated":[91],"with":[92],"free-flyer":[94],"kinematics":[95],"system.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}