{"id":"https://openalex.org/W4400946605","doi":"https://doi.org/10.23919/ecc64448.2024.10591303","title":"Non-Linear Distributed MPC Coordination of Autonomous Vehicles Using Optimality Condition Decomposition","display_name":"Non-Linear Distributed MPC Coordination of Autonomous Vehicles Using Optimality Condition Decomposition","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946605","doi":"https://doi.org/10.23919/ecc64448.2024.10591303"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591303","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc64448.2024.10591303","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":true,"oa_status":"green","oa_url":"https://upcommons.upc.edu/bitstreams/e82a2bd2-0c4e-4f81-b0c0-59d5d5baccab/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059651174","display_name":"Marc Facer\u00edas","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marc Facer\u00edas","raw_affiliation_strings":["University of Manchester,Faculty of Electrical Engineering,The United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Manchester,Faculty of Electrical Engineering,The United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023299508","display_name":"Vicen\u00e7 Puig","orcid":"https://orcid.org/0000-0002-6364-6429"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Vicen\u00e7 Puig","raw_affiliation_strings":["Institute of Robotics, CSIC-UPC,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, CSIC-UPC,Barcelona,Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013721697","display_name":"Alexandru Stancu","orcid":"https://orcid.org/0000-0002-8290-522X"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alexandru Stancu","raw_affiliation_strings":["University of Manchester,Faculty of Electrical Engineering,The United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Manchester,Faculty of Electrical Engineering,The United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1652,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78232797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"705","last_page":"710"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9865000247955322,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.9865000247955322,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9811000227928162,"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/T10192","display_name":"Catalytic Processes in Materials Science","score":0.9111999869346619,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.7183789014816284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49133458733558655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3866836130619049},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35177043080329895},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20533213019371033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12780147790908813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07297441363334656}],"concepts":[{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.7183789014816284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49133458733558655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3866836130619049},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35177043080329895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20533213019371033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12780147790908813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07297441363334656},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591303","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc64448.2024.10591303","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"},{"id":"pmh:oai:upcommons.upc.edu:2117/427924","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/427924","pdf_url":"https://upcommons.upc.edu/bitstreams/e82a2bd2-0c4e-4f81-b0c0-59d5d5baccab/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/427924","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/427924","pdf_url":"https://upcommons.upc.edu/bitstreams/e82a2bd2-0c4e-4f81-b0c0-59d5d5baccab/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400946605.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W1027473064","https://openalex.org/W2131681506","https://openalex.org/W2522978412","https://openalex.org/W2528969357","https://openalex.org/W2539402368","https://openalex.org/W2749468379","https://openalex.org/W2902909548","https://openalex.org/W2915378797","https://openalex.org/W2930359834","https://openalex.org/W3089009148","https://openalex.org/W3112956992","https://openalex.org/W3127860497","https://openalex.org/W3155925618","https://openalex.org/W4234997161","https://openalex.org/W4299945798","https://openalex.org/W4311475647","https://openalex.org/W6797043315"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,25,54,88],"novel":[4],"non-linear":[5],"distributed":[6],"MPC":[7,39],"coordination":[8,40],"scheme":[9,41],"for":[10,28,44,102],"autonomous":[11],"vehicles":[12],"based":[13],"on":[14],"the":[15,34,38,71,81,96,99],"Optimality":[16],"Condition":[17],"Decomposition":[18],"(OCD)":[19],"algorithm":[20],"is":[21,31,42,60,92],"proposed.":[22],"As":[23],"result,":[24],"local":[26],"planner":[27],"each":[29,45],"vehicle":[30],"obtained":[32,43],"via":[33],"OCD":[35],"application":[36],"to":[37,50,62,78,94],"vehicle,":[46],"providing":[47],"realistic":[48],"paths":[49,64],"be":[51],"executed":[52],"in":[53,87],"collaborative":[55],"manner.":[56],"The":[57],"proposed":[58,100],"approach":[59,101],"able":[61],"determine":[63],"that":[65,74],"consider":[66],"both":[67],"individual":[68],"goals":[69],"and":[70],"environment":[72,91],"so":[73],"agents":[75],"can":[76],"collaborate":[77],"safely":[79],"navigate":[80],"studied":[82],"environment.":[83],"A":[84],"case":[85],"study":[86],"ROS":[89],"simulation":[90],"used":[93],"assess":[95],"validity":[97],"of":[98],"real-time":[103],"implementation.":[104]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}