{"id":"https://openalex.org/W4289927891","doi":"https://doi.org/10.23919/ecc55457.2022.9837966","title":"Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control","display_name":"Constraint Violation Probability Minimization for Norm-Constrained Linear Model Predictive Control","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4289927891","doi":"https://doi.org/10.23919/ecc55457.2022.9837966"},"language":"en","primary_location":{"id":"doi:10.23919/ecc55457.2022.9837966","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9837966","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 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":"2022 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1662327","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020472790","display_name":"Michael Fink","orcid":"https://orcid.org/0000-0003-4197-5464"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Michael Fink","raw_affiliation_strings":["Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081356815","display_name":"Tim Br\u00fcdigam","orcid":"https://orcid.org/0000-0001-8913-8003"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Brudigam","raw_affiliation_strings":["Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marion Leibold","raw_affiliation_strings":["Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Chair of Automatic Control Engineering,Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020472790"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.0613,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71890799,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"839","last_page":"846"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9909999966621399,"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":0.9901999831199646,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.750044584274292},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7339038848876953},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6878235340118408},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.6041532754898071},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5949758291244507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922861695289612},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5699524879455566},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4977834224700928},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.45699211955070496},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4509373605251312},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4228353500366211},{"id":"https://openalex.org/keywords/stochastic-control","display_name":"Stochastic control","score":0.4212602376937866},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3756941556930542},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25951141119003296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1794629693031311},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16924771666526794}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.750044584274292},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7339038848876953},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6878235340118408},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.6041532754898071},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5949758291244507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922861695289612},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5699524879455566},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4977834224700928},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.45699211955070496},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4509373605251312},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4228353500366211},{"id":"https://openalex.org/C170131372","wikidata":"https://www.wikidata.org/wiki/Q7617811","display_name":"Stochastic control","level":3,"score":0.4212602376937866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3756941556930542},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25951141119003296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1794629693031311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16924771666526794},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc55457.2022.9837966","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9837966","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 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":"2022 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1662327","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1662327","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1662327","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1662327","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"ConferencePaper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G7085345141","display_name":null,"funder_award_id":"490649198","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1488006703","https://openalex.org/W1524886571","https://openalex.org/W1849974506","https://openalex.org/W1978956894","https://openalex.org/W1981723834","https://openalex.org/W2045332133","https://openalex.org/W2099184899","https://openalex.org/W2399440847","https://openalex.org/W2557055507","https://openalex.org/W2570854297","https://openalex.org/W2749680651","https://openalex.org/W2964111918","https://openalex.org/W3009701286","https://openalex.org/W3033760439","https://openalex.org/W3158413423","https://openalex.org/W4292070096","https://openalex.org/W6783515843"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W4400979532","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W128654086"],"abstract_inverted_index":{"In":[0,44,103],"autonomous":[1,94],"driving,":[2],"it":[3],"is":[4,101,131,139],"essential":[5],"to":[6,9,29,79,105],"be":[7,30],"able":[8],"avoid":[10],"any":[11],"type":[12],"of":[13,41,48,64,83,99,119,124,128,135],"collision":[14,100],"with":[15,116],"the":[16,22,42,65,81,88,93,97,111,120,129],"environment":[17],"by":[18],"appropriate":[19],"control.":[20],"Therefore,":[21],"distance":[23],"between":[24],"vehicle":[25,137],"and":[26,54],"obstacles":[27,50],"needs":[28],"sufficiently":[31],"large,":[32],"providing":[33],"a":[34,61,136,142],"norm":[35,84],"constraint":[36,85],"e.g.":[37,58],"for":[38,92],"optimal":[39],"control":[40],"vehicle.":[43],"general,":[45],"future":[46],"positions":[47],"dynamic":[49],"are":[51,57],"highly":[52],"uncertain":[53],"thus":[55],"predictions":[56],"made":[59],"using":[60],"stochastic":[62],"model":[63],"obstacle":[66,121],"dynamics.":[67],"We":[68],"propose":[69],"an":[70],"application-independent":[71],"framework":[72],"that":[73,138],"extends":[74],"Linear":[75],"Model":[76,107],"Predictive":[77,108],"Control":[78,109],"minimize":[80],"probability":[82,98],"violation":[86],"in":[87,133],"prediction":[89],"horizon.":[90],"Thus,":[91],"driving":[95],"application,":[96],"minimized.":[102],"contrast":[104],"Robust":[106],"approaches,":[110],"proposed":[112],"approach":[113],"can":[114],"deal":[115],"unexpected":[117],"behavior":[118],"without":[122],"loss":[123],"feasibility.":[125],"The":[126],"applicability":[127],"method":[130],"demonstrated":[132],"simulation":[134],"successfully":[140],"avoiding":[141],"suddenly":[143],"emerging":[144],"pedestrian.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}