{"id":"https://openalex.org/W4292071346","doi":"https://doi.org/10.23919/ecc55457.2022.9838219","title":"Learning secure corridors for model predictive path following control of autonomous systems in cluttered environments","display_name":"Learning secure corridors for model predictive path following control of autonomous systems in cluttered environments","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4292071346","doi":"https://doi.org/10.23919/ecc55457.2022.9838219"},"language":"en","primary_location":{"id":"doi:10.23919/ecc55457.2022.9838219","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838219","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087387582","display_name":"Philipp Holzmann","orcid":"https://orcid.org/0009-0006-0286-770X"},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philipp Holzmann","raw_affiliation_strings":["Otto-von-Guericke Universität. Magdeburg,Laboratory for Systems Theory and Automatic Control"],"affiliations":[{"raw_affiliation_string":"Otto-von-Guericke Universität. Magdeburg,Laboratory for Systems Theory and Automatic Control","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056206872","display_name":"Janine Matschek","orcid":"https://orcid.org/0000-0003-0998-1020"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janine Matschek","raw_affiliation_strings":["Technische Universität Darmstadt,Laboratory for Control and Cyber-Physical Systems"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Laboratory for Control and Cyber-Physical Systems","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056370384","display_name":"Maik Pfefferkorn","orcid":"https://orcid.org/0000-0003-1483-4500"},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke University Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maik Pfefferkorn","raw_affiliation_strings":["Otto-von-Guericke Universität. Magdeburg,Laboratory for Systems Theory and Automatic Control"],"affiliations":[{"raw_affiliation_string":"Otto-von-Guericke Universität. Magdeburg,Laboratory for Systems Theory and Automatic Control","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040485515","display_name":"Rolf Findeisen","orcid":"https://orcid.org/0000-0002-9112-5946"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rolf Findeisen","raw_affiliation_strings":["Technische Universität Darmstadt,Laboratory for Control and Cyber-Physical Systems"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Laboratory for Control and Cyber-Physical Systems","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087387582"],"corresponding_institution_ids":["https://openalex.org/I95793202"],"apc_list":null,"apc_paid":null,"fwci":0.3538,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40475228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1772","last_page":"1777"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9933000206947327,"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":0.9933000206947327,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9900000095367432,"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":0.9872999787330627,"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/computer-science","display_name":"Computer science","score":0.6904544830322266},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6576277613639832},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6333686113357544},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6168041825294495},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5626341700553894},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5574058294296265},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5459869503974915},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5139662623405457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5043331384658813},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4957757890224457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47784969210624695},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4635239243507385},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43369239568710327},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.39750370383262634},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.38713425397872925},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36821287870407104},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3539919853210449},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2529181241989136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11362174153327942}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6904544830322266},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6576277613639832},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6333686113357544},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6168041825294495},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5626341700553894},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5574058294296265},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5459869503974915},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5139662623405457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5043331384658813},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4957757890224457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47784969210624695},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4635239243507385},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43369239568710327},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.39750370383262634},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.38713425397872925},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36821287870407104},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3539919853210449},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2529181241989136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11362174153327942},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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":2,"locations":[{"id":"doi:10.23919/ecc55457.2022.9838219","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838219","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:tubiblio.ulb.tu-darmstadt.de:142879","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/142879/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W164383062","https://openalex.org/W1565554466","https://openalex.org/W1578293866","https://openalex.org/W1771182989","https://openalex.org/W1978956894","https://openalex.org/W1999648900","https://openalex.org/W2026348647","https://openalex.org/W2053572490","https://openalex.org/W2054162134","https://openalex.org/W2102975675","https://openalex.org/W2158055488","https://openalex.org/W2343568200","https://openalex.org/W2396317032","https://openalex.org/W2480512873","https://openalex.org/W2560504659","https://openalex.org/W2619551236","https://openalex.org/W2783526959","https://openalex.org/W2792285312","https://openalex.org/W2962775887","https://openalex.org/W2964040381","https://openalex.org/W3046913852","https://openalex.org/W3100966471","https://openalex.org/W3105252106","https://openalex.org/W4211049957","https://openalex.org/W6657265868"],"related_works":["https://openalex.org/W2947101150","https://openalex.org/W260566294","https://openalex.org/W4324367395","https://openalex.org/W1935426308","https://openalex.org/W1499301849","https://openalex.org/W2137743893","https://openalex.org/W2112323931","https://openalex.org/W2121558332","https://openalex.org/W4310969317","https://openalex.org/W3205382512"],"abstract_inverted_index":{"Safe,":[0],"collision-free":[1,59],"movement":[2,60],"of":[3,24,71,112],"autonomous":[4,48,136],"systems":[5,26,49],"such":[6],"as":[7,117,119],"robots,":[8],"mobile":[9,137],"platforms,":[10],"or":[11],"drones":[12],"in":[13,160],"cluttered":[14,85],"environments":[15],"is":[16,91,125,151],"challenging.":[17],"Often":[18],"the":[19,72,84,95,99,104,115,121,128,147,154,161,166],"exact":[20],"positions":[21],"and":[22,27,69,102],"dimensions":[23],"other":[25],"objects":[28],"are":[29],"uncertain.":[30],"However,":[31],"data":[32],"from":[33,57],"successful,":[34],"previous":[35],"trajectories":[36,61],"might":[37],"be":[38],"available.":[39],"We":[40],"design":[41],"a":[42,53,76,172],"learning-supported":[43],"model":[44,88],"predictive":[45,89],"controller":[46,90],"for":[47,80,134],"to":[50,93,106,127,157,170],"navigate":[51],"through":[52,83,141],"\u201csafe\u201d":[54],"path-corridor":[55],"learned":[56,100,129],"prior":[58],"using":[62,171],"Gaussian":[63,73],"process":[64,74],"regression.":[65],"The":[66],"posterior":[67],"mean":[68],"variance":[70],"define":[75],"corridor":[77,101,130,164],"that":[78,139,153],"allows":[79],"safe":[81,162],"transition":[82],"environment.":[86],"A":[87],"used":[92],"find":[94],"optimal":[96],"path":[97,123,163],"inside":[98],"steers":[103],"system":[105,116],"follow":[107],"it.":[108],"It":[109,150],"guarantees":[110],"satisfaction":[111],"constraints":[113],"on":[114,120],"well":[118],"reference":[122],"which":[124],"subject":[126],"limitations.":[131],"Simulation":[132],"studies":[133],"an":[135,142],"robot":[138],"navigates":[140],"environment":[143],"with":[144],"obstacles":[145],"demonstrate":[146],"approach's":[148],"benefits.":[149],"shown":[152],"controller's":[155],"flexibility":[156],"move":[158],"freely":[159],"increases":[165],"performance":[167],"when":[168],"compared":[169],"predefined":[173],"fixed":[174],"path.":[175]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-02-26T08:16:20.718346","created_date":"2025-10-10T00:00:00"}