{"id":"https://openalex.org/W4393149851","doi":"https://doi.org/10.3390/s24072097","title":"Integrating Modular Pipelines with End-to-End Learning: A Hybrid Approach for Robust and Reliable Autonomous Driving Systems","display_name":"Integrating Modular Pipelines with End-to-End Learning: A Hybrid Approach for Robust and Reliable Autonomous Driving Systems","publication_year":2024,"publication_date":"2024-03-25","ids":{"openalex":"https://openalex.org/W4393149851","doi":"https://doi.org/10.3390/s24072097","pmid":"https://pubmed.ncbi.nlm.nih.gov/38610309"},"language":"en","primary_location":{"id":"doi:10.3390/s24072097","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24072097","pdf_url":"https://www.mdpi.com/1424-8220/24/7/2097/pdf?version=1711375737","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/7/2097/pdf?version=1711375737","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019933170","display_name":"Luis Alberto Rosero","orcid":"https://orcid.org/0000-0002-3667-0677"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Luis Alberto Rosero","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048223004","display_name":"Iago Pach\u00eaco Gomes","orcid":"https://orcid.org/0000-0002-4184-4440"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Iago Pach\u00eaco Gomes","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091525135","display_name":"J\u00fanior Anderson Rodrigues da Silva","orcid":"https://orcid.org/0000-0002-7035-992X"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"J\u00fanior Anderson Rodrigues da Silva","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089355384","display_name":"Andr\u00e9 Przewodowski","orcid":"https://orcid.org/0000-0002-4120-8540"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Carlos Andr\u00e9 Przewodowski","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047424364","display_name":"Denis F. Wolf","orcid":"https://orcid.org/0000-0003-1485-5686"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Denis Fernando Wolf","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030595758","display_name":"Fernando Santos Os\u00f3rio","orcid":"https://orcid.org/0000-0002-6620-2794"},"institutions":[{"id":"https://openalex.org/I17974374","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748","country_code":"BR","type":"education","lineage":["https://openalex.org/I17974374"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Fernando Santos Os\u00f3rio","raw_affiliation_strings":["Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil"],"affiliations":[{"raw_affiliation_string":"Institute of Mathematics and Computer Science, University of S\u00e3o Paulo, Ave. Trabalhador S\u00e3o-Carlense, 400, S\u00e3o Carlos 13564-002, SP, Brazil","institution_ids":["https://openalex.org/I17974374"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5019933170"],"corresponding_institution_ids":["https://openalex.org/I17974374"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.17,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86522788,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"24","issue":"7","first_page":"2097","last_page":"2097"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/modular-design","display_name":"Modular design","score":0.7696493268013},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6333107948303223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6005759239196777},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.576408326625824},{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.5669649243354797},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.5626240968704224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4232550263404846},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.3447236716747284},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.33169177174568176},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3257901072502136}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7696493268013},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6333107948303223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6005759239196777},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.576408326625824},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.5669649243354797},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.5626240968704224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4232550263404846},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.3447236716747284},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.33169177174568176},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3257901072502136},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s24072097","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24072097","pdf_url":"https://www.mdpi.com/1424-8220/24/7/2097/pdf?version=1711375737","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:38610309","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38610309","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11014112","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11014112","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:HAL:hal-05310173v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05310173","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","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":"Sensors, 2024, 24 (7), pp.2097. ⟨10.3390/s24072097⟩","raw_type":"Journal articles"},{"id":"pmh:oai:doaj.org/article:f37c4901884b4423a41458dfaefe0e1e","is_oa":true,"landing_page_url":"https://doaj.org/article/f37c4901884b4423a41458dfaefe0e1e","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 7, p 2097 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/24/7/2097/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s24072097","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s24072097","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24072097","pdf_url":"https://www.mdpi.com/1424-8220/24/7/2097/pdf?version=1711375737","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1431097298","display_name":null,"funder_award_id":"2018/19732-5","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"},{"id":"https://openalex.org/G295657101","display_name":null,"funder_award_id":"2019/","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"},{"id":"https://openalex.org/G3632994476","display_name":null,"funder_award_id":"01/2020","funder_id":"https://openalex.org/F4320323356","funder_display_name":"Funda\u00e7\u00e3o de Desenvolvimento da Pesquisa"},{"id":"https://openalex.org/G4245794733","display_name":null,"funder_award_id":"27192.02.01/2020.10-00","funder_id":"https://openalex.org/F4320323356","funder_display_name":"Funda\u00e7\u00e3o de Desenvolvimento da Pesquisa"},{"id":"https://openalex.org/G966618761","display_name":null,"funder_award_id":"2019/27301-7","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320323356","display_name":"Funda\u00e7\u00e3o de Desenvolvimento da Pesquisa","ror":"https://ror.org/0176yjw32"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393149851.pdf"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W1020059872","https://openalex.org/W1912649600","https://openalex.org/W2055404495","https://openalex.org/W2072837490","https://openalex.org/W2105404016","https://openalex.org/W2107656445","https://openalex.org/W2109061107","https://openalex.org/W2163385431","https://openalex.org/W2192586580","https://openalex.org/W2252355370","https://openalex.org/W2328067583","https://openalex.org/W2330219538","https://openalex.org/W2343568200","https://openalex.org/W2477231637","https://openalex.org/W2520190918","https://openalex.org/W2525936901","https://openalex.org/W2566243177","https://openalex.org/W2570720149","https://openalex.org/W2763476526","https://openalex.org/W2792919579","https://openalex.org/W2888728157","https://openalex.org/W2897340412","https://openalex.org/W2937051932","https://openalex.org/W2948153973","https://openalex.org/W2963150697","https://openalex.org/W2968296999","https://openalex.org/W2996945478","https://openalex.org/W3011462663","https://openalex.org/W3024771345","https://openalex.org/W3034445502","https://openalex.org/W3045897451","https://openalex.org/W3091329246","https://openalex.org/W3104218139","https://openalex.org/W3113363555","https://openalex.org/W3133190857","https://openalex.org/W3135991645","https://openalex.org/W3172477795","https://openalex.org/W3172863135","https://openalex.org/W3198460218","https://openalex.org/W3203018838","https://openalex.org/W3206225415","https://openalex.org/W3208248092","https://openalex.org/W3212059915","https://openalex.org/W3212409086","https://openalex.org/W4214759451","https://openalex.org/W4226197711","https://openalex.org/W4245287170","https://openalex.org/W4283076523","https://openalex.org/W4286285557","https://openalex.org/W4286285638","https://openalex.org/W4288804588","https://openalex.org/W4292347911","https://openalex.org/W4297930197","https://openalex.org/W4312381959","https://openalex.org/W4312396550","https://openalex.org/W4312862130","https://openalex.org/W4313130075","https://openalex.org/W4313496237","https://openalex.org/W4376166839","https://openalex.org/W4376457019","https://openalex.org/W4386066695","https://openalex.org/W4386071550","https://openalex.org/W4386918877","https://openalex.org/W4390810698","https://openalex.org/W4390872706","https://openalex.org/W6631190155","https://openalex.org/W6772033386","https://openalex.org/W6777298417"],"related_works":["https://openalex.org/W4321442002","https://openalex.org/W2015265939","https://openalex.org/W2284072287","https://openalex.org/W2611067230","https://openalex.org/W2480201319","https://openalex.org/W2387706296","https://openalex.org/W2155788121","https://openalex.org/W4235469518","https://openalex.org/W362492756","https://openalex.org/W2294325978"],"abstract_inverted_index":{"Autonomous":[0,94,184],"driving":[1,117,139],"navigation":[2],"relies":[3],"on":[4,13],"diverse":[5],"approaches,":[6,63],"each":[7],"with":[8,51,151],"advantages":[9],"and":[10,48,68,87,98,111,121,138,143,156,162],"limitations":[11],"depending":[12],"various":[14],"factors.":[15],"For":[16],"HD":[17],"maps,":[18],"modular":[19,46],"systems":[20],"excel,":[21],"while":[22,73],"end-to-end":[23,80],"methods":[24],"dominate":[25],"mapless":[26,112],"scenarios.":[27],"However,":[28],"few":[29],"leverage":[30],"the":[31,59,76,91,105,122,129,133,146,170,174,178,181],"strengths":[32,60],"of":[33,61,70,79,119,126,132,141,154,166,180],"both.":[34],"This":[35,55],"paper":[36],"innovates":[37],"by":[38],"proposing":[39],"a":[40,65,116],"hybrid":[41,171],"architecture":[42,84,172],"that":[43],"seamlessly":[44],"integrates":[45],"perception":[47],"control":[49],"modules":[50],"data-driven":[52],"path":[53],"planning.":[54],"innovative":[56],"design":[57],"leverages":[58],"both":[62,109],"enabling":[64],"clear":[66],"understanding":[67],"debugging":[69],"individual":[71],"components":[72],"simultaneously":[74],"harnessing":[75],"learning":[77],"power":[78],"approaches.":[81],"Our":[82],"proposed":[83],"achieved":[85,115],"first":[86,175],"second":[88],"place":[89],"in":[90,108,128,145],"2023":[92,182],"CARLA":[93,134,147,183],"Driving":[95,185],"Challenge's":[96],"SENSORS":[97],"MAP":[99,130],"tracks,":[100],"respectively.":[101],"These":[102],"results":[103,165],"demonstrate":[104],"architecture's":[106],"effectiveness":[107],"map-based":[110],"navigation.":[113],"We":[114],"score":[118],"41.56":[120],"highest":[123],"route":[124,152],"completion":[125],"86.03":[127],"track":[131,150],"Challenge":[135,148],"leaderboard":[136,160,167],"1,":[137],"scores":[140],"35.36":[142],"1.23":[144],"SENSOR":[149],"completions":[153],"85.01":[155],"9.55,":[157],"for,":[158],"respectively,":[159],"1":[161],"2.":[163],"The":[164],"2":[168],"raised":[169],"to":[173],"position,":[176],"winning":[177],"edition":[179],"Competition.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}