{"id":"https://openalex.org/W3045676776","doi":"https://doi.org/10.23919/acc45564.2020.9148013","title":"Optimization Based Planner\u2013Tracker Design for Safety Guarantees","display_name":"Optimization Based Planner\u2013Tracker Design for Safety Guarantees","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045676776","doi":"https://doi.org/10.23919/acc45564.2020.9148013","mag":"3045676776"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9148013","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9148013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5042593365","display_name":"He Yin","orcid":"https://orcid.org/0000-0003-3338-148X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He Yin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025118945","display_name":"Monimoy Bujarbaruah","orcid":"https://orcid.org/0000-0003-0639-1025"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Monimoy Bujarbaruah","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025743742","display_name":"Murat Arcak","orcid":"https://orcid.org/0000-0001-9060-4032"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Murat Arcak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5076844884","display_name":"Andrew Packard","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Packard","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5194","last_page":"5200"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8129623532295227},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6512770652770996},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6277749538421631},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6117127537727356},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.59389728307724},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5569543242454529},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5325435996055603},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5297083854675293},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5262899994850159},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5030977129936218},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4554947316646576},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4276352524757385},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4186597764492035},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4149472415447235},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35953477025032043},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25067949295043945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23157453536987305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17954164743423462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17090639472007751}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8129623532295227},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6512770652770996},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6277749538421631},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6117127537727356},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.59389728307724},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5569543242454529},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5325435996055603},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5297083854675293},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5262899994850159},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5030977129936218},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4554947316646576},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4276352524757385},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4186597764492035},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4149472415447235},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35953477025032043},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25067949295043945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23157453536987305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17954164743423462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17090639472007751},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9148013","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9148013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.41999998688697815,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1976410223","https://openalex.org/W1978956894","https://openalex.org/W2080256219","https://openalex.org/W2084166574","https://openalex.org/W2100538121","https://openalex.org/W2110703708","https://openalex.org/W2133404041","https://openalex.org/W2160781031","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2491336180","https://openalex.org/W2604410735","https://openalex.org/W2737223130","https://openalex.org/W2749680651","https://openalex.org/W2761923184","https://openalex.org/W2892521964","https://openalex.org/W2956092117","https://openalex.org/W2981706805","https://openalex.org/W2995502201","https://openalex.org/W3012288983","https://openalex.org/W3013679533","https://openalex.org/W3023466262","https://openalex.org/W4246038204","https://openalex.org/W4289542662","https://openalex.org/W4297684039","https://openalex.org/W6632241744","https://openalex.org/W6679392325","https://openalex.org/W6745072325","https://openalex.org/W6754173698","https://openalex.org/W6754990898","https://openalex.org/W6755184729","https://openalex.org/W6765315762","https://openalex.org/W6775563433"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251"],"abstract_inverted_index":{"We":[0,81],"present":[1],"a":[2,16,38],"safe-by-design":[3],"approach":[4],"to":[5,23,57,119],"path":[6],"planning":[7],"and":[8,88,95,102],"control":[9,40,100],"for":[10,59,65,76],"nonlinear":[11],"systems.":[12],"The":[13,113],"planner":[14,94,121],"uses":[15],"low":[17],"fidelity":[18],"model":[19],"of":[20,68],"the":[21,33,50,69,77,86,93],"plant":[22,34],"compute":[24],"reference":[25],"trajectories":[26,45],"by":[27,84],"solving":[28],"an":[29,47],"MPC":[30],"problem,":[31],"while":[32,71,123],"being":[35],"controlled":[36],"utilizes":[37],"feedback":[39],"law":[41],"that":[42],"tracks":[43],"those":[44],"with":[46],"upper-bound":[48],"on":[49,92],"tracking":[51,78,99,103],"error.":[52],"Our":[53],"main":[54],"goal":[55],"is":[56],"allow":[58],"maximum":[60],"permissiveness":[61],"(that":[62],"is,":[63],"room":[64],"constraint":[66],"feasibility)":[67],"planner,":[70],"maintaining":[72],"safety":[73],"after":[74],"accounting":[75],"error":[79,104],"bound.":[80],"achieve":[82],"this":[83],"parametrizing":[85],"state":[87],"input":[89],"constraints":[90],"imposed":[91],"deriving":[96],"corresponding":[97],"parametrized":[98],"laws":[101],"bounds,":[105],"which":[106],"are":[107,115],"computed":[108],"offline":[109],"through":[110],"Sum-of-Squares":[111],"programming.":[112],"parameters":[114],"then":[116],"optimally":[117],"chosen":[118],"maximize":[120],"permissiveness,":[122],"guaranteeing":[124],"safety.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
