{"id":"https://openalex.org/W4382936157","doi":"https://doi.org/10.23919/acc55779.2023.10156050","title":"High-Confidence Trajectory Planning for Off-Road Automated Vehicles under Energy Constraints","display_name":"High-Confidence Trajectory Planning for Off-Road Automated Vehicles under Energy Constraints","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936157","doi":"https://doi.org/10.23919/acc55779.2023.10156050"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156050","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156050","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5022027175","display_name":"Nathan Goulet","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119905","display_name":"Applied Dynamics International (United States)","ror":"https://ror.org/02bwxd425","country_code":"US","type":"company","lineage":["https://openalex.org/I4210119905"]},{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nathan Goulet","raw_affiliation_strings":["Clemson University - International Center for Automotive Research (CU-ICAR),Applied Dynamics & Control Group,Greenville,SC,USA,29607"],"affiliations":[{"raw_affiliation_string":"Clemson University - International Center for Automotive Research (CU-ICAR),Applied Dynamics & Control Group,Greenville,SC,USA,29607","institution_ids":["https://openalex.org/I4210119905","https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061351240","display_name":"Beshah Ayalew","orcid":"https://orcid.org/0000-0002-3759-3271"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]},{"id":"https://openalex.org/I4210119905","display_name":"Applied Dynamics International (United States)","ror":"https://ror.org/02bwxd425","country_code":"US","type":"company","lineage":["https://openalex.org/I4210119905"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Beshah Ayalew","raw_affiliation_strings":["Clemson University - International Center for Automotive Research (CU-ICAR),Applied Dynamics & Control Group,Greenville,SC,USA,29607"],"affiliations":[{"raw_affiliation_string":"Clemson University - International Center for Automotive Research (CU-ICAR),Applied Dynamics & Control Group,Greenville,SC,USA,29607","institution_ids":["https://openalex.org/I4210119905","https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071482044","display_name":"Matthew P. Castanier","orcid":"https://orcid.org/0000-0002-3646-382X"},"institutions":[{"id":"https://openalex.org/I4388482723","display_name":"U.S. Army Combat Capabilities Development Command Ground Vehicle System Center","ror":"https://ror.org/026zar759","country_code":null,"type":"facility","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437","https://openalex.org/I4388482723"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Castanier","raw_affiliation_strings":["US Army DEVCOM Ground Vehicle Systems Center (GVSC),Warren,MI,USA,48397"],"affiliations":[{"raw_affiliation_string":"US Army DEVCOM Ground Vehicle Systems Center (GVSC),Warren,MI,USA,48397","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I2802705668","https://openalex.org/I4388482723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031497159","display_name":"Annette Skowronska","orcid":null},"institutions":[{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I4388482723","display_name":"U.S. Army Combat Capabilities Development Command Ground Vehicle System Center","ror":"https://ror.org/026zar759","country_code":null,"type":"facility","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437","https://openalex.org/I4388482723"]},{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Annette Skowronska","raw_affiliation_strings":["US Army DEVCOM Ground Vehicle Systems Center (GVSC),Warren,MI,USA,48397"],"affiliations":[{"raw_affiliation_string":"US Army DEVCOM Ground Vehicle Systems Center (GVSC),Warren,MI,USA,48397","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I2802705668","https://openalex.org/I4388482723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022027175"],"corresponding_institution_ids":["https://openalex.org/I4210119905","https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":0.7411,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70406856,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3221","last_page":"3226"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9972000122070312,"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":0.9972000122070312,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9969000220298767,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6781448125839233},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.6769403219223022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6463616490364075},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6394984126091003},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6030212640762329},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5716652274131775},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5609872341156006},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4684211015701294},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44366326928138733},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.322733998298645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19643634557724},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19475248456001282},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1858845353126526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18256694078445435},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.14654922485351562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14347729086875916},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1002148687839508}],"concepts":[{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6781448125839233},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.6769403219223022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6463616490364075},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6394984126091003},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6030212640762329},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5716652274131775},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5609872341156006},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4684211015701294},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44366326928138733},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.322733998298645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19643634557724},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19475248456001282},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1858845353126526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18256694078445435},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.14654922485351562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14347729086875916},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1002148687839508},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical 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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156050","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156050","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310328","display_name":"Automotive Research Center","ror":"https://ror.org/00jmfr291"},{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1985261575","https://openalex.org/W1986129478","https://openalex.org/W2087463697","https://openalex.org/W2117168072","https://openalex.org/W2156431668","https://openalex.org/W2169528473","https://openalex.org/W2515105874","https://openalex.org/W2583851801","https://openalex.org/W2767375699","https://openalex.org/W2782299259","https://openalex.org/W2947472817","https://openalex.org/W2997774515","https://openalex.org/W3122122318","https://openalex.org/W3174748154","https://openalex.org/W3193135535","https://openalex.org/W3201470660","https://openalex.org/W3202384346","https://openalex.org/W4211049957","https://openalex.org/W4312805690","https://openalex.org/W6732673281"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2145006118"],"abstract_inverted_index":{"For":[0],"automated":[1],"vehicles":[2],"operating":[3],"in":[4,11,107,112],"off-road":[5,92],"environments,":[6],"there":[7],"is":[8,105],"substantial":[9],"uncertainty":[10,50,111],"their":[12],"energy":[13,35,47,115,127],"needs":[14],"and":[15,56,117],"utilization.":[16],"To":[17],"account":[18],"for":[19,123],"this":[20,77],"uncertainty,":[21],"we":[22],"propose":[23],"a":[24,41,52,65,79,87],"high-confidence":[25],"global":[26],"planner":[27],"that":[28,68,85,102,120],"obtains":[29],"the":[30,33,46,59,91,103,108,124],"path":[31],"with":[32,78],"highest-confidence":[34],"constraints":[36],"are":[37],"met.":[38],"We":[39,75,97],"outline":[40],"sampling-based":[42],"method":[43],"to":[44,64],"approximate":[45],"stage":[48],"cost":[49],"as":[51],"normal":[53],"random":[54],"variable,":[55],"then":[57],"transform":[58],"uncertain":[60],"optimal":[61],"control":[62],"problem":[63],"deterministic":[66],"one":[67],"can":[69],"be":[70],"solved":[71],"using":[72],"standard":[73],"methods.":[74],"couple":[76],"local":[80],"nominal":[81],"model":[82,89],"predictive":[83],"controller":[84],"employs":[86],"dynamics":[88],"of":[90,110,114],"vehicle":[93],"on":[94],"deformable":[95],"terrains.":[96],"show":[98],"through":[99],"Monte-Carlo":[100],"simulations":[101],"framework":[104],"robust":[106],"face":[109],"terms":[113],"consumption":[116],"outperforms":[118],"approaches":[119],"simply":[121],"plan":[122],"minimum":[125],"expected":[126],"consumption.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}