{"id":"https://openalex.org/W7166590296","doi":"https://doi.org/10.48550/arxiv.2606.27914","title":"Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems","display_name":"Drifting in the Future: Stabilizing Path Following Drifting on High-Latency Vehicle Systems","publication_year":2026,"publication_date":"2026-06-26","ids":{"openalex":"https://openalex.org/W7166590296","doi":"https://doi.org/10.48550/arxiv.2606.27914"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.27914","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27914","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.2606.27914","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139588956","display_name":"Frederik Werner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Werner, Frederik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139584833","display_name":"Till Heintzenberg","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heintzenberg, Till","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139571311","display_name":"Markus Lienkamp","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lienkamp, Markus","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139609226","display_name":"Johannes Betz","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Betz, Johannes","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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9336000084877014,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9336000084877014,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.042899999767541885,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.0027000000700354576,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7276999950408936},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.644599974155426},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.6187999844551086},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5631999969482422},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5200999975204468},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4438999891281128},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.44359999895095825},{"id":"https://openalex.org/keywords/powertrain","display_name":"Powertrain","score":0.4341000020503998},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4318999946117401}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7276999950408936},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.644599974155426},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.6187999844551086},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5631999969482422},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5200999975204468},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4745999872684479},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4438999891281128},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.44359999895095825},{"id":"https://openalex.org/C76047896","wikidata":"https://www.wikidata.org/wiki/Q1786258","display_name":"Powertrain","level":3,"score":0.4341000020503998},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42800000309944153},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.41990000009536743},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40470001101493835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39169999957084656},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3833000063896179},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.382999986410141},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.38190001249313354},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.375},{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.3671000003814697},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.3167000114917755},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.31520000100135803},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.29899999499320984},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.29649999737739563},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.2549000084400177},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.27914","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27914","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.2606.27914","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27914","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":[{"id":"https://metadata.un.org/sdg/7","score":0.4105702042579651,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomously":[0],"controlling":[1],"and":[2,7,15,34,47,85,99,121,130,145,149],"handling":[3],"a":[4,13,58,66,78,109,114],"vehicle":[5],"at":[6],"beyond":[8],"its":[9],"stability":[10],"limit":[11],"is":[12,160],"mathematically":[14],"computationally":[16],"demanding":[17],"task.":[18],"Prior":[19],"demonstrations":[20],"of":[21,172],"automated":[22],"drifting":[23,159],"have":[24],"been":[25],"limited":[26],"to":[27,41,60,70,117,127,133,167],"research":[28],"platforms":[29],"with":[30,44,113],"instantaneous":[31],"torque":[32],"delivery":[33],"independently":[35],"actuated":[36],"wheels,":[37],"leaving":[38],"their":[39],"applicability":[40],"production":[42,110],"vehicles":[43],"actuator":[45,137],"latencies":[46,74],"mechanically":[48],"coupled":[49],"axles":[50],"uncertain.":[51],"To":[52],"overcome":[53],"these":[54],"issues,":[55],"we":[56],"design":[57],"predictor":[59],"compensate":[61],"for":[62],"powertrain":[63],"delays,":[64],"develop":[65],"revised":[67],"control":[68,179],"formulation":[69],"accommodate":[71],"higher":[72],"actuation":[73],"as":[75,77],"well":[76],"differential":[79],"coupling":[80],"on":[81,162],"the":[82,93,96],"driven":[83],"axle,":[84],"introduce":[86],"brake-based":[87],"velocity":[88],"stabilization.":[89],"This":[90],"paper":[91],"presents":[92],"controller":[94,107],"framework,":[95],"model":[97],"extensions,":[98],"real-world":[100],"experimental":[101],"results.":[102],"We":[103],"observe":[104],"that":[105,157],"our":[106,154],"enables":[108],"sports":[111],"car":[112],"combustion":[115],"engine":[116],"robustly":[118],"sustain":[119],"circular":[120],"figure-eight":[122],"drifts,":[123],"limiting":[124],"lateral":[125],"error":[126],"1.1":[128],"m":[129],"sideslip":[131,150],"overshoot":[132],"0.06":[134],"rad":[135],"despite":[136],"delays":[138],"exceeding":[139],"250":[140],"ms,":[141],"while":[142],"mitigating":[143],"oscillations":[144],"maintaining":[146],"stable":[147],"path":[148],"tracking.":[151],"In":[152],"conclusion,":[153],"results":[155],"establish":[156],"autonomous":[158],"feasible":[161],"production-ready":[163],"vehicles,":[164],"opening":[165],"pathways":[166],"advanced":[168],"safety":[169],"systems":[170],"capable":[171],"stabilizing":[173],"cars":[174],"in":[175],"scenarios":[176],"where":[177],"traditional":[178],"fails.":[180]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-30T00:00:00"}