{"id":"https://openalex.org/W4205218232","doi":"https://doi.org/10.23919/ecc54610.2021.9654856","title":"An MPC-based Task Priority Management Approach for Connected and Automated Vehicles Reference Tracking with Obstacle Avoidance","display_name":"An MPC-based Task Priority Management Approach for Connected and Automated Vehicles Reference Tracking with Obstacle Avoidance","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W4205218232","doi":"https://doi.org/10.23919/ecc54610.2021.9654856"},"language":"en","primary_location":{"id":"doi:10.23919/ecc54610.2021.9654856","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9654856","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","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":"2021 European Control Conference (ECC)","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/A5073054809","display_name":"Francesco Vitale","orcid":"https://orcid.org/0000-0002-1008-416X"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Francesco Vitale","raw_affiliation_strings":["Aalto University,Department of Built Environment,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University,Department of Built Environment,Espoo,Finland,02150","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043731672","display_name":"Claudio Roncoli","orcid":"https://orcid.org/0000-0002-9381-3021"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Claudio Roncoli","raw_affiliation_strings":["Aalto University,Department of Built Environment,Espoo,Finland,02150"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aalto University,Department of Built Environment,Espoo,Finland,02150","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":0.2864,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62900032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"813","last_page":"819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9937000274658203,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8505251407623291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.723562479019165},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6295099258422852},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6150051951408386},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6000633835792542},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5783021450042725},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5634989738464355},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5295934081077576},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5208699703216553},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.414594441652298},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39663106203079224},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3904293179512024},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.337022602558136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26419442892074585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18855777382850647},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17631036043167114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12696337699890137},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07563766837120056}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8505251407623291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.723562479019165},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6295099258422852},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6150051951408386},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6000633835792542},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5783021450042725},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5634989738464355},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5295934081077576},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5208699703216553},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.414594441652298},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39663106203079224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3904293179512024},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.337022602558136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26419442892074585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18855777382850647},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17631036043167114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12696337699890137},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07563766837120056},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems 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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc54610.2021.9654856","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9654856","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","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":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1552094772","https://openalex.org/W1984505032","https://openalex.org/W1992085841","https://openalex.org/W1993131361","https://openalex.org/W2000359213","https://openalex.org/W2002440441","https://openalex.org/W2032381729","https://openalex.org/W2070291139","https://openalex.org/W2102488278","https://openalex.org/W2104332709","https://openalex.org/W2104782147","https://openalex.org/W2113260111","https://openalex.org/W2113286054","https://openalex.org/W2119616217","https://openalex.org/W2142943472","https://openalex.org/W2161129374","https://openalex.org/W2163590332","https://openalex.org/W2341848647","https://openalex.org/W2343568200","https://openalex.org/W2524886531","https://openalex.org/W2563378438","https://openalex.org/W2741634092","https://openalex.org/W2882405518","https://openalex.org/W2962822210","https://openalex.org/W2996945478","https://openalex.org/W3012481664","https://openalex.org/W3081975785"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,89,105,151],"reference":[3,83],"tracking":[4,84],"control":[5,25,61],"problem":[6,62],"with":[7,21,32,93],"obstacle":[8,49,97],"avoidance":[9,50,98],"for":[10,38,58,150],"connected":[11],"and":[12],"automated":[13],"vehicles.":[14,120],"The":[15,142],"proposed":[16,143],"approach":[17],"allows":[18],"to":[19,54,63,95,134],"deal":[20],"obstacles":[22],"in":[23,27,104,155],"the":[24,28,45,82,96,122,156],"loop":[26],"first":[29],"instance,":[30],"coping":[31],"real-time":[33],"operations":[34],"while":[35],"safely":[36],"waiting":[37],"an":[39,59,72],"eventually":[40],"new":[41],"planned":[42],"trajectory":[43],"from":[44],"guidance":[46],"loop.":[47],"An":[48],"algorithm":[51,73],"is":[52,74,86,145],"designed":[53],"produce":[55],"suitable":[56],"constraints":[57],"optimization":[60],"be":[64],"solved":[65],"via":[66,147],"Nonlinear":[67],"Model":[68],"Predictive":[69],"Control.":[70],"Such":[71],"based":[75,137],"on":[76,138],"task":[77,85,92],"priority":[78,91],"management,":[79],"so":[80,108],"that":[81,109],"handled":[87],"as":[88],"lower":[90],"respect":[94],"task.":[99],"Automated":[100],"vehicles":[101,127],"are":[102],"managed":[103],"decentralized":[106],"fashion,":[107],"they":[110],"can":[111],"process":[112],"independently":[113],"any":[114],"sensed":[115],"potential":[116],"obstacles,":[117],"including":[118],"conventional":[119],"In":[121],"presence":[123],"of":[124,153,158],"vehicle":[125],"connectivity,":[126],"may":[128],"exchange":[129],"information":[130],"about":[131],"their":[132],"states":[133],"make":[135],"decisions":[136],"more":[139],"accurate":[140],"predictions.":[141],"method":[144],"evaluated":[146],"simulation":[148],"experiments,":[149],"set":[152],"scenarios":[154],"context":[157],"urban":[159],"traffic.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}