{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,12]],"date-time":"2026-06-12T15:58:20Z","timestamp":1781279900463,"version":"3.54.1"},"reference-count":25,"publisher":"IEEE","license":[{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,10,24]],"date-time":"2020-10-24T00:00:00Z","timestamp":1603497600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,10,24]]},"DOI":"10.1109\/iros45743.2020.9341731","type":"proceedings-article","created":{"date-parts":[[2021,2,13]],"date-time":"2021-02-13T02:26:48Z","timestamp":1613183208000},"page":"2397-2403","source":"Crossref","is-referenced-by-count":69,"title":["Optimization-Based Hierarchical Motion Planning for Autonomous Racing"],"prefix":"10.1109","author":[{"given":"Jose L.","family":"Vazquez","sequence":"first","affiliation":[{"name":"ETH,Automatic Control Lab,Zurich,Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marius","family":"Bruhlmeier","sequence":"additional","affiliation":[{"name":"ETH,Automatic Control Lab,Zurich,Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexander","family":"Liniger","sequence":"additional","affiliation":[{"name":"ETH,Computer Vision Lab,Zurich,Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alisa","family":"Rupenyan","sequence":"additional","affiliation":[{"name":"ETH,Automatic Control Lab,Zurich,Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"Lygeros","sequence":"additional","affiliation":[{"name":"ETH,Automatic Control Lab,Zurich,Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2772903"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2019.1605081"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793882"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2017.7963748"},{"key":"ref14","article-title":"A curvilinear abscissa approach for the lap time optimization of racing vehicles","author":"lot","year":"2014","journal-title":"IFAC World Congress"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2377777"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-74244-1"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1080\/00423119208969994","article-title":"The magic formula tyre model","volume":"21","author":"pacejka","year":"1992","journal-title":"Vehicle System Dynamics"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.044"},{"key":"ref19","author":"bell","year":"2019","journal-title":"CppAD A Package for C++ Algorithmic Differentiation"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1504\/IJVAS.2012.051270"},{"key":"ref3","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-03991-1","author":"buehler","year":"2009","journal-title":"The DARPA Urban Challenge Autonomous Vehicles in City Traffic"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVE45908.2019.8965238"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2123"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ECC.2016.7810277"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2599783"},{"key":"ref2","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-73429-1","author":"buehler","year":"2007","journal-title":"The 2005 DARPA Grand Challenge The Great Robot Race"},{"key":"ref9","article-title":"AMZ Driverless: The full autonomous racing system","author":"kabzan","year":"2019"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2017.1316017"},{"key":"ref21","article-title":"Forces professional","author":"domahidi","year":"2014","journal-title":"Embotech AG"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794155"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462829"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2926677"}],"event":{"name":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Las Vegas, NV, USA","start":{"date-parts":[[2020,10,24]]},"end":{"date-parts":[[2021,1,24]]}},"container-title":["2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9340668\/9340635\/09341731.pdf?arnumber=9341731","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,28]],"date-time":"2022-06-28T21:56:15Z","timestamp":1656453375000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9341731\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10,24]]},"references-count":25,"URL":"https:\/\/doi.org\/10.1109\/iros45743.2020.9341731","relation":{},"subject":[],"published":{"date-parts":[[2020,10,24]]}}}