{"id":"https://openalex.org/W4382936265","doi":"https://doi.org/10.23919/acc55779.2023.10156286","title":"A Minimax-Based Decision-Making Approach for Safe Maneuver Planning in Automated Driving","display_name":"A Minimax-Based Decision-Making Approach for Safe Maneuver Planning in Automated Driving","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936265","doi":"https://doi.org/10.23919/acc55779.2023.10156286"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156286","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156286","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":"conference-paper","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/A5005718798","display_name":"Mustafa Sarao\u011flu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mustafa Saraoglu","raw_affiliation_strings":["Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074842449","display_name":"Heng Jiang","orcid":"https://orcid.org/0000-0002-1542-3394"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heng Jiang","raw_affiliation_strings":["Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104138397","display_name":"Manuel Schirmer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Schirmer","raw_affiliation_strings":["Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060214218","display_name":"\u0130lhan Mutlu","orcid":"https://orcid.org/0000-0001-8995-6671"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"\u0130lhan Mutlu","raw_affiliation_strings":["Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042050845","display_name":"Klaus Janschek","orcid":"https://orcid.org/0000-0002-7244-8977"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klaus Janschek","raw_affiliation_strings":["Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t Dresden, Institute of Automation,Faculty of Electrical and Computer Engineering,Dresden,Germany,01069","institution_ids":["https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210157642"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4683","last_page":"4690"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9988999962806702,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/minimax","display_name":"Minimax","score":0.7740717530250549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6235994100570679},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5490362048149109},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5382750630378723},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5338479280471802},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.48477333784103394},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44282427430152893},{"id":"https://openalex.org/keywords/game-tree","display_name":"Game tree","score":0.41071105003356934},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4105079472064972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4058842360973358},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.3516654372215271},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.33161652088165283},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32190409302711487},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25794410705566406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2328270673751831},{"id":"https://openalex.org/keywords/sequential-game","display_name":"Sequential game","score":0.20994290709495544},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16686716675758362},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12616801261901855}],"concepts":[{"id":"https://openalex.org/C149728462","wikidata":"https://www.wikidata.org/wiki/Q751319","display_name":"Minimax","level":2,"score":0.7740717530250549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6235994100570679},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5490362048149109},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5382750630378723},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5338479280471802},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.48477333784103394},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44282427430152893},{"id":"https://openalex.org/C95815963","wikidata":"https://www.wikidata.org/wiki/Q1377033","display_name":"Game tree","level":4,"score":0.41071105003356934},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4105079472064972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4058842360973358},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.3516654372215271},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.33161652088165283},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32190409302711487},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25794410705566406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2328270673751831},{"id":"https://openalex.org/C73795354","wikidata":"https://www.wikidata.org/wiki/Q287618","display_name":"Sequential game","level":3,"score":0.20994290709495544},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16686716675758362},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12616801261901855},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156286","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156286","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":[{"id":"https://metadata.un.org/sdg/16","score":0.44999998807907104,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1966808004","https://openalex.org/W2021667711","https://openalex.org/W2048563056","https://openalex.org/W2060135607","https://openalex.org/W2062694502","https://openalex.org/W2107338474","https://openalex.org/W2122410182","https://openalex.org/W2144913588","https://openalex.org/W2154844948","https://openalex.org/W2160092048","https://openalex.org/W2171084228","https://openalex.org/W2768542523","https://openalex.org/W2782474430","https://openalex.org/W2954742730","https://openalex.org/W2957856899","https://openalex.org/W2969076652","https://openalex.org/W3003397068","https://openalex.org/W3010924072","https://openalex.org/W3045997105","https://openalex.org/W3110600470","https://openalex.org/W3174412502","https://openalex.org/W3186243269","https://openalex.org/W6684973485"],"related_works":["https://openalex.org/W2001681191","https://openalex.org/W4323046389","https://openalex.org/W1613276115","https://openalex.org/W132537045","https://openalex.org/W2504380483","https://openalex.org/W2887785599","https://openalex.org/W2742300930","https://openalex.org/W79086587","https://openalex.org/W1900813558","https://openalex.org/W2885692900"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,20,42,51,84,143,149,160,186,210],"novel":[4],"game-theoretic":[5],"decision-making":[6],"algorithm":[7],"for":[8,24,62,94],"safe":[9,124],"maneuver":[10,65,85,158],"planning":[11,170,183],"in":[12,54,159,168,194],"highway":[13,176],"driving.":[14],"The":[15,58,105,135,152],"problem":[16],"is":[17,60],"formulated":[18],"as":[19],"two-player":[21],"extensive-form":[22],"game":[23,52,140],"safety":[25,81,112,212],"between":[26],"the":[27,31,34,47,55,67,71,74,80,95,111,128,132,139,156,166,215,219],"ego":[28,48,68,106,153],"vehicle":[29,49,69,107,154],"and":[30,70,88,92,164,179,189,200,224],"environment":[32],"(all":[33],"other":[35,103],"vehicles":[36],"around).":[37],"In":[38],"order":[39],"to":[40,109,119,148,185],"make":[41],"decision":[43],"(i.e.,":[44],"plan":[45],"maneuver),":[46],"builds":[50],"tree":[53,59,141],"current":[56],"state.":[57],"expanded":[61],"each":[63],"possible":[64,100],"of":[66,83,102,138,145,196,221],"observations":[72],"from":[73],"environment.":[75],"For":[76,172],"evaluation,":[77],"we":[78,174],"quantify":[79],"value":[82],"by":[86],"computing":[87],"over-approximating":[89],"its":[90],"trajectory":[91],"checking":[93],"worst-case":[96],"spatiotemporal":[97],"overlap":[98],"with":[99],"trajectories":[101],"vehicles.":[104],"tries":[108],"maximize":[110],"value,":[113],"assuming":[114],"that":[115,130,206],"others":[116],"will":[117],"act":[118],"minimize":[120],"it.":[121],"Among":[122],"equally":[123],"maneuvers,":[125],"it":[126],"chooses":[127],"one":[129],"travels":[131],"longest":[133],"distance.":[134],"minimax":[136],"solution":[137],"yields":[142],"sequence":[144],"maneuvers":[146],"up":[147],"predefined":[150],"depth.":[151],"applies":[155],"first":[157],"receding":[161],"horizon":[162],"fashion":[163],"repeats":[165],"process":[167],"constant":[169],"cycles.":[171],"validation,":[173],"simulated":[175],"driving":[177],"scenarios":[178],"compared":[180],"our":[181,207],"minimax-based":[182],"approach":[184,208],"rule-based":[187],"planner":[188,193],"an":[190],"online":[191],"look-ahead":[192],"terms":[195],"safety,":[197],"traveled":[198,222],"distance,":[199],"computation":[201,225],"time.":[202,226],"We":[203],"have":[204],"shown":[205],"incorporates":[209],"higher":[211],"level":[213],"than":[214],"baseline":[216],"planners":[217],"at":[218],"cost":[220],"distance":[223]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
