{"id":"https://openalex.org/W7149204190","doi":"https://doi.org/10.48550/arxiv.2604.01790","title":"Set-Theoretic Receding Horizon Control for Obstacle Avoidance and Overtaking in Autonomous Highway Driving","display_name":"Set-Theoretic Receding Horizon Control for Obstacle Avoidance and Overtaking in Autonomous Highway Driving","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7149204190","doi":"https://doi.org/10.48550/arxiv.2604.01790"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.01790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01790","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.2604.01790","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090458276","display_name":"Gianni Cario","orcid":"https://orcid.org/0000-0001-9482-8041"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Cario, Gianni","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132866041","display_name":"Valentino Carriuolo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carriuolo, Valentino","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Casavola, Alessandro","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Casavola, Alessandro","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022577827","display_name":"Gianfranco Gagliardi","orcid":"https://orcid.org/0000-0002-5148-8638"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gagliardi, Gianfranco","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002081265","display_name":"Marco Lupia","orcid":"https://orcid.org/0000-0003-2356-9817"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lupia, Marco","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5030343102","display_name":"Franco Angelo Torchiaro","orcid":"https://orcid.org/0009-0000-0939-5860"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Torchiaro, Franco Angelo","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5090458276"],"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/T10524","display_name":"Traffic control and management","score":0.352400004863739,"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/T10524","display_name":"Traffic control and management","score":0.352400004863739,"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":0.31220000982284546,"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":0.10660000145435333,"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/overtaking","display_name":"Overtaking","score":0.9474999904632568},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6596999764442444},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.646399974822998},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.635200023651123},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6053000092506409},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5421000123023987},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.5249000191688538},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.521399974822998},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4767000079154968},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4650999903678894}],"concepts":[{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.9474999904632568},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6596999764442444},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.646399974822998},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.635200023651123},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6053000092506409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5611000061035156},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5421000123023987},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.5249000191688538},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.521399974822998},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4767000079154968},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4650999903678894},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41530001163482666},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3781000077724457},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3767000138759613},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.3578000068664551},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.35030001401901245},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3490000069141388},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C2775905063","wikidata":"https://www.wikidata.org/wiki/Q6132995","display_name":"Road traffic control","level":3,"score":0.326200008392334},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.31790000200271606},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.29660001397132874},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28540000319480896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.25870001316070557},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2581999897956848},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.01790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01790","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.2604.01790","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01790","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":[{"score":0.43983763456344604,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"obstacle":[3],"avoidance":[4],"motion":[5,77],"planning":[6,78],"for":[7,79],"autonomous":[8],"vehicles,":[9],"specifically":[10],"focusing":[11],"on":[12],"highway":[13],"overtaking":[14],"maneuvers.":[15],"The":[16,88],"control":[17,89],"design":[18],"challenge":[19],"is":[20,72,91],"handled":[21],"by":[22,52,181],"considering":[23],"a":[24,54,95,99,115,129,136,152],"mathematical":[25],"vehicle":[26,126],"model":[27,123],"that":[28,40,167],"captures":[29],"both":[30],"lateral":[31],"and":[32,146],"longitudinal":[33],"dynamics.":[34],"Unlike":[35],"existing":[36],"numerical":[37],"optimization":[38],"methods":[39],"suffer":[41],"from":[42],"significant":[43],"online":[44,93,178],"computational":[45,179],"overhead,":[46],"this":[47],"work":[48],"extends":[49],"the":[50,69,108,125,133,160,168],"state-of-the-art":[51],"leveraging":[53],"fast":[55],"set-theoretic":[56],"ellipsoidal":[57,105],"Model":[58],"Predictive":[59],"Control":[60],"(Fast-MPC)":[61],"technique.":[62],"While":[63],"originally":[64],"restricted":[65],"to":[66,75,143,185],"stabilization":[67],"tasks,":[68],"proposed":[70,169],"framework":[71,138],"successfully":[73],"adapted":[74],"handle":[76],"vehicles":[80],"modeled":[81],"as":[82],"uncertain":[83],"polytopic":[84,130],"discrete-time":[85],"linear":[86,137],"systems.":[87],"action":[90],"computed":[92],"via":[94],"set-membership":[96],"evaluation":[97],"against":[98,151],"structured":[100],"sequence":[101],"of":[102,107],"nested":[103],"inner":[104],"approximations":[106],"exact":[109],"one-step":[110],"ahead":[111],"controllable":[112],"set":[113],"within":[114,135],"receding":[116],"horizon":[117],"framework.":[118],"A":[119],"six-degrees-of-freedom":[120],"(6-DOF)":[121],"nonlinear":[122],"characterizes":[124],"dynamics,":[127],"while":[128,176],"embedding":[131],"approximates":[132],"nonlinearities":[134],"with":[139],"parameter":[140],"uncertainties.":[141],"Finally,":[142],"assess":[144],"performance":[145],"real-time":[147],"feasibility,":[148],"comparative":[149],"co-simulations":[150],"baseline":[153],"Non-Linear":[154],"MPC":[155],"(NLMPC)":[156],"were":[157],"conducted.":[158],"Using":[159],"high-fidelity":[161],"CARLA":[162],"3D":[163],"simulator,":[164],"results":[165],"demonstrate":[166],"approach":[170],"seamlessly":[171],"rejects":[172],"dynamic":[173],"traffic":[174],"disturbances":[175],"reducing":[177],"time":[180],"over":[182],"90%":[183],"compared":[184],"standard":[186],"optimization-based":[187],"approaches.":[188]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2026-04-04T00:00:00"}