{"id":"https://openalex.org/W7134907720","doi":"https://doi.org/10.48550/arxiv.2603.09188","title":"Robust Spatiotemporal Motion Planning for Multi-Agent Autonomous Racing via Topological Gap Identification and Accelerated MPC","display_name":"Robust Spatiotemporal Motion Planning for Multi-Agent Autonomous Racing via Topological Gap Identification and Accelerated MPC","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7134907720","doi":"https://doi.org/10.48550/arxiv.2603.09188"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.09188","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09188","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.09188","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128781136","display_name":"Mingyi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhang, Mingyi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128781683","display_name":"Cheng Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Cheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662108","display_name":"Yiqin Wang","orcid":"https://orcid.org/0000-0001-8480-2040"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yiqin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044945190","display_name":"Haotong Qin","orcid":"https://orcid.org/0000-0001-7391-7539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qin, Haotong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089754029","display_name":"Hongye Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Hongye","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128782471","display_name":"Lei Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Lei","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5128781136"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5751000046730042,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5751000046730042,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.08950000256299973,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.07909999787807465,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/kinematics","display_name":"Kinematics","score":0.7258999943733215},{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.7206000089645386},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6685000061988831},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6272000074386597},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5820000171661377},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4862000048160553},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4293000102043152},{"id":"https://openalex.org/keywords/continuation","display_name":"Continuation","score":0.41499999165534973},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.3903000056743622}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7258999943733215},{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.7206000089645386},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6685000061988831},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6272000074386597},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5820000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758000016212463},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4862000048160553},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4293000102043152},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.3903000056743622},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.367900013923645},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.3596999943256378},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32739999890327454},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2874999940395355},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2732999920845032},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2694999873638153},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2621000111103058},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2567000091075897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.09188","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09188","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.09188","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.09188","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"High-speed":[0],"multi-agent":[1],"autonomous":[2,126],"racing":[3],"demands":[4],"robust":[5],"spatiotemporal":[6],"planning":[7],"and":[8,34,112,124],"precise":[9],"control":[10],"under":[11],"strict":[12,22,58],"computational":[13,115],"limits.":[14],"Current":[15],"methods":[16],"often":[17],"oversimplify":[18],"interactions":[19],"or":[20],"abandon":[21],"kinematic":[23,59],"constraints.":[24],"We":[25,56],"resolve":[26],"this":[27],"by":[28,67,96,117],"proposing":[29],"a":[30,62,68],"Topological":[31],"Gap":[32],"Identification":[33],"Accelerated":[35],"MPC":[36,65],"framework.":[37],"By":[38],"predicting":[39],"opponent":[40],"behaviors":[41],"via":[42],"SGPs,":[43],"our":[44,85],"method":[45,86],"constructs":[46],"dynamic":[47],"occupancy":[48],"corridors":[49],"to":[50],"robustly":[51],"select":[52],"optimal":[53],"overtaking":[54,104],"gaps.":[55],"ensure":[57],"feasibility":[60],"using":[61],"Linear":[63],"Time-Varying":[64],"powered":[66],"customized":[69],"Pseudo-Transient":[70],"Continuation":[71],"(PTC)":[72],"solver":[73],"for":[74],"high-frequency":[75],"execution.":[76],"Experimental":[77],"results":[78],"on":[79],"the":[80,120],"F1TENTH":[81],"platform":[82],"show":[83],"that":[84],"significantly":[87],"outperforms":[88],"state-of-the-art":[89],"baselines:":[90],"it":[91],"reduces":[92],"total":[93],"maneuver":[94],"time":[95],"51.6%":[97],"in":[98,109],"sequential":[99],"scenarios,":[100],"consistently":[101],"maintains":[102],"an":[103],"success":[105],"rate":[106],"exceeding":[107],"81%":[108],"dense":[110],"bottlenecks,":[111],"lowers":[113],"average":[114],"latency":[116],"20.3%,":[118],"pushing":[119],"boundaries":[121],"of":[122],"safe":[123],"high-speed":[125],"racing.":[127]},"counts_by_year":[],"updated_date":"2026-03-12T06:18:43.230356","created_date":"2026-03-12T00:00:00"}
