{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T08:25:33Z","timestamp":1777623933940,"version":"3.51.4"},"reference-count":59,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"12","license":[{"start":{"date-parts":[[2021,12,1]],"date-time":"2021-12-01T00:00:00Z","timestamp":1638316800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,12,1]],"date-time":"2021-12-01T00:00:00Z","timestamp":1638316800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,12,1]],"date-time":"2021-12-01T00:00:00Z","timestamp":1638316800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000006","name":"ONR","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Embedded Humans MURI Project","award":["N00014-16-1-2206"],"award-info":[{"award-number":["N00014-16-1-2206"]}]},{"name":"National Science Foundation Graduate Research Fellowship Program"},{"name":"UC Berkeley Chancellor’s Fellowship Program"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Contr."],"published-print":{"date-parts":[[2021,12]]},"DOI":"10.1109\/tac.2021.3059838","type":"journal-article","created":{"date-parts":[[2021,2,18]],"date-time":"2021-02-18T14:22:24Z","timestamp":1613658144000},"page":"5861-5876","source":"Crossref","is-referenced-by-count":62,"title":["FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking"],"prefix":"10.1109","volume":"66","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8506-3665","authenticated-orcid":false,"given":"Mo","family":"Chen","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3863-8945","authenticated-orcid":false,"given":"Sylvia L.","family":"Herbert","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4217-4776","authenticated-orcid":false,"given":"Haimin","family":"Hu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5924-0859","authenticated-orcid":false,"given":"Ye","family":"Pu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2676-5090","authenticated-orcid":false,"given":"Jaime Fernandez","family":"Fisac","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5826-7686","authenticated-orcid":false,"given":"Somil","family":"Bansal","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1195-6465","authenticated-orcid":false,"given":"SooJean","family":"Han","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3192-3185","authenticated-orcid":false,"given":"Claire J.","family":"Tomlin","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1145\/2728606.2728612"},{"key":"ref38","author":"coddington","year":"1984","journal-title":"Theory of Ordinary Differential Equations"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066385"},{"key":"ref32","first-page":"5550","article-title":"Safe sequential path planning of multi-vehicle systems under presence of disturbances and imperfect information","author":"bansal","year":"0"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2017-5361"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629500"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7040372"},{"key":"ref36","first-page":"193","article-title":"DSOS and SDSOS optimization:More tractable alternatives to sum of squares and semidefinite optimization","volume":"3","author":"ahmadi","year":"2017"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989693"},{"key":"ref34","article-title":"Structured semidefinite programs and semialgebraic geometry methods in robustness and optimization","author":"parrilo","year":"2000"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917712421"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-27702-8_26"},{"key":"ref29","first-page":"4569","article-title":"STOMP:Stochastic trajectory optimization for motion planning","author":"kalakrishnan","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.851439"},{"key":"ref1","first-page":"1517","article-title":"FaSTrack:A modular framework for fast and guaranteed safe motion planning","author":"han","year":"0"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1059"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/S0959-1524(01)00023-3"},{"key":"ref21","doi-asserted-by":"crossref","first-page":"2245","DOI":"10.1109\/TAC.2015.2491738","article-title":"Reference tracking with guaranteed error bound for constrained linear systems","volume":"61","author":"s","year":"2016","journal-title":"IEEE Trans Autom Control"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-01094-1_32"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535379"},{"key":"ref26","first-page":"1649","article-title":"Design of guaranteed safe maneuvers using reachable sets:Autonomous quadrotor aerobatics in theory and practice","author":"gillula","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487274"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.069"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919859436"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7798268"},{"key":"ref58","first-page":"387","article-title":"Planning, fast and slow:A framework for adaptive real-time safe trajectory planning","author":"deglurkar","year":"2018","journal-title":"IEEE Int Conf Robot Autom"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-014-0071-1"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1002\/oca.939"},{"key":"ref55","article-title":"Multiple rapidly-exploring random tree (RRT)","author":"gavin","year":"2013","journal-title":"MATLAB Community Contributor"},{"key":"ref54","article-title":"On-board model predictive control of a quadrotor helicopter:Design, implementation, and experiments","author":"bouffard","year":"2012"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794457"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2018.2828380"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000289"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915577958"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/5.871303"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_37"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980479"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912444543"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.031"},{"key":"ref16","first-page":"489","article-title":"CHOMP:Gradient optimization techniques for efficient motion planning","author":"ratliff","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref17","first-page":"1","article-title":"Tunnel-MILP:Path planning with sequential convex polytopes","author":"vitus","year":"0","journal-title":"Proc AIAA Guid Navigat Control Conf Exhibit"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2108450"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2176389"},{"key":"ref4","first-page":"7697","article-title":"Classification-based approximate reachability with guarantees applied to safe trajectory tracking","author":"royo","year":"0"},{"key":"ref3","first-page":"545","article-title":"Robust tracking with model mismatch for fast and safe planning:An SOS optimization approach","author":"singh","year":"0","journal-title":"Proc Workshop Algorithmic Found Robot"},{"key":"ref6","first-page":"995","article-title":"RRT-connect:An efficient approach to single-query path planning","author":"kuffner","year":"0","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10915-012-9671-y"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(02)00186-7"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793905"},{"key":"ref9","article-title":"Optimization-based collision avoidance","author":"zhang","year":"2017"},{"key":"ref46","first-page":"4161","article-title":"A practical reachability-based collision avoidance algorithm for sampled-data systems:Application to ground robots","author":"dabadie","year":"0","journal-title":"Proc IEEE Int Conf Intell Robots Syst"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1016\/j.nahs.2013.04.003"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9030133"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7039601"},{"key":"ref42","first-page":"333","article-title":"Hamilton–Jacobi reachability:Some recent theoretical advances and applications in unmanned airspace management","volume":"1","author":"chen","year":"2018","journal-title":"Annu Rev Control"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2797194"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.3182\/20120606-3-NL-3011.00104"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/s10915-007-9174-4"}],"container-title":["IEEE Transactions on Automatic Control"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9\/9632853\/09354964.pdf?arnumber=9354964","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:52:38Z","timestamp":1652194358000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9354964\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,12]]},"references-count":59,"journal-issue":{"issue":"12"},"URL":"https:\/\/doi.org\/10.1109\/tac.2021.3059838","relation":{},"ISSN":["0018-9286","1558-2523","2334-3303"],"issn-type":[{"value":"0018-9286","type":"print"},{"value":"1558-2523","type":"electronic"},{"value":"2334-3303","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,12]]}}}