{"id":"https://openalex.org/W4400946700","doi":"https://doi.org/10.23919/ecc64448.2024.10591070","title":"A Model Predictive Control Approach to Motion Planning in Dynamic Environments","display_name":"A Model Predictive Control Approach to Motion Planning in Dynamic Environments","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946700","doi":"https://doi.org/10.23919/ecc64448.2024.10591070"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591070","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5024344478","display_name":"Bernhard Wullt","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104473","display_name":"CBot (Sweden)","ror":"https://ror.org/01e507517","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210104473"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Bernhard Wullt","raw_affiliation_strings":["ABB,Robotics,Sweden"],"affiliations":[{"raw_affiliation_string":"ABB,Robotics,Sweden","institution_ids":["https://openalex.org/I4210104473"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076316548","display_name":"Per Mattsson","orcid":"https://orcid.org/0000-0002-2678-1330"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Per Mattsson","raw_affiliation_strings":["Uppsala University,Department of Information Technology"],"affiliations":[{"raw_affiliation_string":"Uppsala University,Department of Information Technology","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083090794","display_name":"Thomas B. Sch\u00f6n","orcid":"https://orcid.org/0000-0001-5183-234X"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Thomas B. Sch\u00f6n","raw_affiliation_strings":["Uppsala University,Department of Information Technology"],"affiliations":[{"raw_affiliation_string":"Uppsala University,Department of Information Technology","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060961630","display_name":"Mikael Norrl\u00f6f","orcid":"https://orcid.org/0000-0002-2100-6378"},"institutions":[{"id":"https://openalex.org/I4210104473","display_name":"CBot (Sweden)","ror":"https://ror.org/01e507517","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210104473"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mikael Norrl\u00f6f","raw_affiliation_strings":["ABB,Robotics,Sweden"],"affiliations":[{"raw_affiliation_string":"ABB,Robotics,Sweden","institution_ids":["https://openalex.org/I4210104473"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024344478"],"corresponding_institution_ids":["https://openalex.org/I4210104473"],"apc_list":null,"apc_paid":null,"fwci":0.6975,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.69455964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3247","last_page":"3254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9639999866485596,"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":0.9639999866485596,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6651646494865417},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6068520545959473},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5284758806228638},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48658525943756104},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48503583669662476},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4255010187625885},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33068880438804626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2643847167491913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16737014055252075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11426463723182678}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6651646494865417},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6068520545959473},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5284758806228638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48658525943756104},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48503583669662476},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4255010187625885},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33068880438804626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2643847167491913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16737014055252075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11426463723182678}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591070","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"},{"score":0.46000000834465027,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1982809790","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2410617946","https://openalex.org/W2604410735","https://openalex.org/W2774451424","https://openalex.org/W2967267347","https://openalex.org/W2989986341","https://openalex.org/W3007469703","https://openalex.org/W3033920763","https://openalex.org/W3090255919","https://openalex.org/W3106257603","https://openalex.org/W3133018151","https://openalex.org/W3156470590","https://openalex.org/W4236251699","https://openalex.org/W4285102382","https://openalex.org/W4376608865","https://openalex.org/W4385325374","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W2214501612","https://openalex.org/W2673944387","https://openalex.org/W1576487518","https://openalex.org/W4253156269","https://openalex.org/W3217556520","https://openalex.org/W1980072851","https://openalex.org/W2371387152","https://openalex.org/W2023971465","https://openalex.org/W2161599466","https://openalex.org/W2011262671"],"abstract_inverted_index":{"The":[0],"current":[1],"state-of-the":[2],"art":[3],"motion":[4,53,57],"planners":[5],"for":[6],"mobile":[7],"robots":[8,109],"typically":[9],"do":[10],"not":[11],"consider":[12],"the":[13,34,65,80,85,108,112],"future":[14],"movement":[15],"of":[16,67],"moving":[17,86],"obstacles.":[18,87],"Instead":[19],"they":[20],"work":[21,48],"by":[22,49,70],"rapid":[23],"replanning,":[24],"which":[25,43],"makes":[26],"them":[27],"reactively":[28],"adapt":[29],"to":[30],"any":[31],"changes":[32],"in":[33,39,46,75,103,111],"environment.":[35],"This":[36],"can":[37],"result":[38],"a":[40,51,76,94],"sub-optimal":[41],"behavior,":[42],"we":[44],"address":[45],"this":[47],"proposing":[50],"predictive":[52,91],"planner":[54,74,92],"that":[55],"integrates":[56],"predictions":[58],"into":[59],"all":[60],"planning":[61,96],"steps.":[62],"We":[63,88],"demonstrate":[64],"validity":[66],"our":[68,72,90],"approach":[69,97],"evaluating":[71],"proposed":[73],"dynamic":[77],"environment":[78],"where":[79],"robot":[81],"moves":[82],"slower":[83],"than":[84],"benchmark":[89],"with":[93],"reactive":[95],"and":[98,106],"observe":[99],"better":[100],"performance,":[101],"both":[102],"avoiding":[104],"collisions":[105],"maintaining":[107],"position":[110],"goal":[113],"region.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}