{"id":"https://openalex.org/W4416565160","doi":"https://doi.org/10.23919/ecc65951.2025.11187014","title":"Optimal Multi-Objective Adaptive Coordinated Control via Hierarchical MPC Framework for Autonomous Vehicles","display_name":"Optimal Multi-Objective Adaptive Coordinated Control via Hierarchical MPC Framework for Autonomous Vehicles","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4416565160","doi":"https://doi.org/10.23919/ecc65951.2025.11187014"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187014","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04988190","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092760992","display_name":"Fadel Tarhini","orcid":"https://orcid.org/0009-0006-5456-5244"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Fadel Tarhini","raw_affiliation_strings":["Universit&#x00E9; de Technologie de Compi&#x00E8;gne,CNRS,Compi&#x00E8;gne,France,60 203","Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; de Technologie de Compi&#x00E8;gne,CNRS,Compi&#x00E8;gne,France,60 203","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","institution_ids":["https://openalex.org/I4210088387","https://openalex.org/I102516824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120422632","display_name":"Ghewa Masry","orcid":null},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I4210115519","display_name":"Centre de Recherche en Informatique","ror":"https://ror.org/020cdve92","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4210091621","https://openalex.org/I4210115519","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ghewa Masry","raw_affiliation_strings":["Universit&#x00E9; de Technologie de Compi&#x00E8;gne,CNRS,Compi&#x00E8;gne,France,60 203","Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","IRIMAS - Institut de Recherche en Informatique Math\u00e9matiques Automatique Signal - IRIMAS - UR 7499 (12 rue des Fr\u00e8res Lumi\u00e8re - 68093 MULHOUSE Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; de Technologie de Compi&#x00E8;gne,CNRS,Compi&#x00E8;gne,France,60 203","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","institution_ids":["https://openalex.org/I4210088387","https://openalex.org/I102516824"]},{"raw_affiliation_string":"IRIMAS - Institut de Recherche en Informatique Math\u00e9matiques Automatique Signal - IRIMAS - UR 7499 (12 rue des Fr\u00e8res Lumi\u00e8re - 68093 MULHOUSE Cedex - France)","institution_ids":["https://openalex.org/I4210115519"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073030033","display_name":"Reine Talj","orcid":"https://orcid.org/0000-0002-8231-1261"},"institutions":[{"id":"https://openalex.org/I102516824","display_name":"Universit\u00e9 de Technologie de Compi\u00e8gne","ror":"https://ror.org/04y5kwa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I102516824"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210088387","display_name":"Heuristics and Diagnostics for Complex Systems","ror":"https://ror.org/0075hvk77","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210088387","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Reine Talj","raw_affiliation_strings":["Universit&#x00E9; de Technologie de Compi&#x00E8;gne,CNRS,Compi&#x00E8;gne,France,60 203","Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; de Technologie de Compi&#x00E8;gne,CNRS,Compi&#x00E8;gne,France,60 203","institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Heudiasyc - Heuristique et Diagnostic des Syst\u00e8mes Complexes [Compi\u00e8gne] (UTC, CS 60319 - 57 avenue de Landshut - 60203 Compi\u00e8gne cedex - France)","institution_ids":["https://openalex.org/I4210088387","https://openalex.org/I102516824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045722164","display_name":"Moustapha Doumiati","orcid":"https://orcid.org/0000-0001-7145-9693"},"institutions":[{"id":"https://openalex.org/I4210149659","display_name":"\u00c9cole Sup\u00e9rieure d'\u00c9lectronique de l'Ouest","ror":"https://ror.org/04nx9ps90","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210149659"]},{"id":"https://openalex.org/I4392021119","display_name":"Institut de Recherche en Energie Electrique de Nantes Atlantique","ror":"https://ror.org/00z2bca79","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4392021119","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Moustapha Doumiati","raw_affiliation_strings":["Nantes Universit&#x00E9;,ESEO-IREENA lab UR 4642,Angers,France,49100","IREENA - Institut de Recherche en Energie Electrique de Nantes Atlantique UR 4642 (Ecole polytechnique de l'universit\u00e9 de Nantes Rue Christian Pauc - La Chantrerie BP 50609 44306 Nantes Cedex 3 - France - France)"],"affiliations":[{"raw_affiliation_string":"Nantes Universit&#x00E9;,ESEO-IREENA lab UR 4642,Angers,France,49100","institution_ids":["https://openalex.org/I4392021119","https://openalex.org/I97188460","https://openalex.org/I4210149659"]},{"raw_affiliation_string":"IREENA - Institut de Recherche en Energie Electrique de Nantes Atlantique UR 4642 (Ecole polytechnique de l'universit\u00e9 de Nantes Rue Christian Pauc - La Chantrerie BP 50609 44306 Nantes Cedex 3 - France - France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092760992"],"corresponding_institution_ids":["https://openalex.org/I102516824","https://openalex.org/I1294671590","https://openalex.org/I4210088387"],"apc_list":null,"apc_paid":null,"fwci":1.2078,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.84864533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2229","last_page":"2236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.5454000234603882,"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":0.5454000234603882,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.15950000286102295,"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"}},{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.0210999995470047,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/stability","display_name":"Stability (learning theory)","score":0.6571000218391418},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6521000266075134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6410999894142151},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.6000000238418579},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5598000288009644},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.527899980545044},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49799999594688416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46480000019073486}],"concepts":[{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6571000218391418},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6521000266075134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6410999894142151},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6000000238418579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5623000264167786},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5598000288009644},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.527899980545044},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49799999594688416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47200000286102295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46480000019073486},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41769999265670776},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.40849998593330383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35010001063346863},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.2597000002861023},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187014","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04988190v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04988190","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"European Control Conference (ECC 2025), Jun 2025, Thessaloniki, Greece. pp.2229-2236, &#x27E8;10.23919/ECC65951.2025.11187014&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04988190v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04988190","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"European Control Conference (ECC 2025), Jun 2025, Thessaloniki, Greece. pp.2229-2236, &#x27E8;10.23919/ECC65951.2025.11187014&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2769646558","https://openalex.org/W2918589332","https://openalex.org/W2946462894","https://openalex.org/W3012213494","https://openalex.org/W3022774239","https://openalex.org/W3043101366","https://openalex.org/W3088035741","https://openalex.org/W3114622139","https://openalex.org/W3202801681","https://openalex.org/W3216281690","https://openalex.org/W4206713704","https://openalex.org/W4210280366","https://openalex.org/W4311168004","https://openalex.org/W4313316269","https://openalex.org/W4367016244","https://openalex.org/W4387609331","https://openalex.org/W4387885933","https://openalex.org/W4388490512","https://openalex.org/W4388692195","https://openalex.org/W4390285315","https://openalex.org/W4394828361","https://openalex.org/W4395478858","https://openalex.org/W4399800620"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,21,34,52,112],"novel":[4],"minimum-order,":[5],"multi-objective":[6],"centralized":[7],"MPC":[8],"control":[9,31,40,57,75,145],"architecture":[10,23,108,130],"for":[11],"autonomous":[12],"vehicles.":[13],"The":[14,107],"contributions":[15],"are":[16],"fourfold.":[17],"First,":[18],"we":[19],"propose":[20],"hierarchical":[22],"that":[24,83],"integrates":[25],"path-tracking,":[26],"speed":[27,56,144],"control,":[28],"and":[29,44,67,69,89,95,104,117,134,143,152],"stability":[30,39,53,133],"based":[32,50],"on":[33,51],"minimum-order":[35],"predictive":[36],"model.":[37],"Second,":[38],"is":[41,76,109],"dynamically":[42],"activated":[43],"relaxed":[45],"using":[46],"an":[47,59,79],"adaptive":[48,60,80],"weight,":[49],"index.":[54],"Third,":[55],"employs":[58],"weight":[61],"to":[62,91],"improve":[63],"robustness,":[64,146],"reduce":[65],"overshoot":[66],"oscillations,":[68,97],"enhance":[70],"energy":[71],"efficiency.":[72],"Fourth,":[73],"path-tracking":[74,141],"enhanced":[77],"with":[78],"weighting":[81],"scheme":[82],"considers":[84],"lateral":[85],"error,":[86],"road":[87],"adherence,":[88],"curvature":[90],"ensure":[92],"smooth":[93],"convergence":[94],"prevent":[96],"while":[98,139],"also":[99],"improving":[100],"accuracy":[101],"under":[102],"uncertain":[103],"low-adherence":[105],"conditions.":[106],"validated":[110],"in":[111,131],"joint":[113],"simulation":[114],"between":[115],"Simulink/Matlab":[116],"SCANeR":[118],"Studio":[119],"vehicle":[120],"dynamics":[121],"simulator.":[122],"Our":[123],"findings":[124],"demonstrate":[125],"the":[126,129],"effectiveness":[127],"of":[128],"enhancing":[132],"comfort":[135],"at":[136,147],"low":[137,153],"runtime,":[138],"maintaining":[140],"precision":[142],"high":[148,150],"speeds,":[149],"curvature,":[151],"adhesion.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-14T00:00:00"}
