{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,29]],"date-time":"2026-06-29T15:17:19Z","timestamp":1782746239268,"version":"3.54.5"},"reference-count":45,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","funder":[{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2021,8]]},"DOI":"10.1109\/tro.2020.3047521","type":"journal-article","created":{"date-parts":[[2021,1,20]],"date-time":"2021-01-20T21:02:27Z","timestamp":1611176547000},"page":"1313-1325","source":"Crossref","is-referenced-by-count":138,"title":["Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios"],"prefix":"10.1109","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0063-7445","authenticated-orcid":false,"given":"Mingyu","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9402-8423","authenticated-orcid":false,"given":"Zijian","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"John","family":"Talbot","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7948-3444","authenticated-orcid":false,"given":"J. Christian","family":"Gerdes","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7871-3663","authenticated-orcid":false,"given":"Mac","family":"Schwager","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","author":"pacejka","year":"2005","journal-title":"Tire and Vehicle Dynamics"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920950795"},{"key":"ref33","volume":"23","author":"basar","year":"1999","journal-title":"Dynamic Noncooperative Game Theory"},{"key":"ref32","article-title":"Differential flatness of mechanical control systems: A catalog of prototype systems","author":"murray","year":"0","journal-title":"Proc ASME Int Mech Eng Congr Expo"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1137\/S0363012995274027"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-33950-0_48"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196757"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1017\/S0962492900002518"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1137\/070699652"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2015.09.011"},{"key":"ref40","first-page":"1","author":"pacejka","year":"2012","journal-title":"Tyre Characteristics and Vehicle Handling and Stability"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593725"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2013-3882"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2348"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2723574"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2508009"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1002\/oca.2123"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2895282"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-016-0342-2"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6426643"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7040372"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.103410"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460898"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-05816-6_16"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.029"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2016.2599783"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462831"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500441"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794007"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2994881"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2019.XV.048"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.2514\/6.2005-6239"},{"key":"ref45","article-title":"Game-theoretic planning for risk-aware interactive agents","author":"wang","year":"0","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907859"},{"key":"ref21","first-page":"4613","article-title":"Applications of polytopic approximations of reachable sets to linear dynamic games and a class of nonlinear systems","volume":"6","author":"hwang","year":"0","journal-title":"Proc Amer Control Conf"},{"key":"ref42","article-title":"ALGAMES: A fast solver for constrained dynamic games","author":"cleach?","year":"0","journal-title":"Proc Robot Sci Syst Conf"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1080\/02331934.2019.1646743"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2016.04.013"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197129"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2019.2955367"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2656241"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2880409"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/s10957-018-1327-0"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9507467\/09329208.pdf?arnumber=9329208","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,1]],"date-time":"2021-11-01T20:42:39Z","timestamp":1635799359000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9329208\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,8]]},"references-count":45,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2020.3047521","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,8]]}}}