{"id":"https://openalex.org/W7162114129","doi":"https://doi.org/10.48550/arxiv.2605.22600","title":"Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering","display_name":"Branch-Stochastic Model Predictive Control for Motion Planning under Multi-Modal Uncertainty with Scenario Clustering","publication_year":2026,"publication_date":"2026-05-21","ids":{"openalex":"https://openalex.org/W7162114129","doi":"https://doi.org/10.48550/arxiv.2605.22600"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.22600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22600","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.22600","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090788330","display_name":"Zekun Xing","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xing, Zekun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136762554","display_name":"Ramkrishna Chaudhari","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chaudhari, Ramkrishna","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leibold, Marion","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wollherr, Dirk","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136814236","display_name":"Martin Buss","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Buss, Martin","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":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":0.30390000343322754,"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":0.30390000343322754,"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":0.2623000144958496,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.2199999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.592199981212616},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5622000098228455},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5350000262260437},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5187000036239624},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5116000175476074},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44519999623298645},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4277999997138977},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.413100004196167}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6326000094413757},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.592199981212616},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5622000098228455},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5350000262260437},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5187000036239624},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5116000175476074},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44519999623298645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4277999997138977},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.413100004196167},{"id":"https://openalex.org/C202033279","wikidata":"https://www.wikidata.org/wiki/Q1931373","display_name":"Scenario planning","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3521000146865845},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.3472000062465668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34150001406669617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29809999465942383},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.29510000348091125},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2904999852180481},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C2779714256","wikidata":"https://www.wikidata.org/wiki/Q25305062","display_name":"Multiple Models","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2799000144004822},{"id":"https://openalex.org/C96640997","wikidata":"https://www.wikidata.org/wiki/Q5163004","display_name":"Conservatism","level":3,"score":0.2741999924182892},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.22600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22600","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.22600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22600","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":"Preprint"},"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":{"Motion":[0],"planning":[1],"for":[2,7,77],"autonomous":[3],"driving":[4],"must":[5,54],"account":[6],"multi-modal":[8],"uncertainty":[9,20,51,118],"in":[10,21,124],"both":[11],"the":[12,67,71,130],"intentions":[13,80],"and":[14,66,137],"trajectories":[15,76],"of":[16,64],"surrounding":[17],"vehicles.":[18],"Handling":[19],"a":[22,61],"worst-case":[23],"manner":[24],"guarantees":[25],"robustness":[26],"but":[27],"often":[28],"leads":[29],"to":[30,49,73,93,113],"excessive":[31],"conservatism.":[32],"Stochastic":[33],"Model":[34],"Predictive":[35],"Control":[36],"(SMPC)":[37],"reduces":[38,135],"trajectory-level":[39],"conservatism":[40],"through":[41],"chance":[42],"constraints,":[43],"yet":[44],"remains":[45],"conservative":[46],"with":[47],"respect":[48],"intention":[50,117],"since":[52],"constraints":[53],"hold":[55],"across":[56],"all":[57],"intentions.":[58],"We":[59],"present":[60],"novel":[62,88],"combination":[63],"SMPC":[65],"branching":[68],"structure,":[69],"enabling":[70],"planner":[72],"generate":[74],"distinct":[75],"different":[78],"possible":[79],"while":[81],"maintaining":[82],"safety":[83],"under":[84],"trajectory":[85],"uncertainty.":[86],"A":[87],"scenario":[89],"clustering":[90],"is":[91,119],"proposed":[92,131],"merge":[94],"prediction":[95],"scenarios":[96,127],"based":[97],"on":[98],"high-level":[99],"decision":[100],"similarity,":[101],"thereby":[102],"ensuring":[103],"real-time":[104,139],"tractability.":[105],"Furthermore,":[106],"an":[107],"adaptive":[108],"branching-time":[109],"computation":[110],"postpones":[111],"commitment":[112],"separate":[114],"plans":[115],"until":[116],"sufficiently":[120],"reduced.":[121],"Simulation":[122],"studies":[123],"challenging":[125],"highway":[126],"demonstrate":[128],"that":[129],"method":[132],"improves":[133],"safety,":[134],"conservatism,":[136],"achieves":[138],"computational":[140],"performance.":[141]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-23T00:00:00"}
