{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,16]],"date-time":"2026-04-16T21:04:15Z","timestamp":1776373455517,"version":"3.51.2"},"reference-count":34,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"10","license":[{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100006831","name":"U.S. Air Force","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006831","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000185","name":"Defense Advanced Research Projects Agency","doi-asserted-by":"publisher","award":["FA8750-18-C-0092"],"award-info":[{"award-number":["FA8750-18-C-0092"]}],"id":[{"id":"10.13039\/100000185","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Veh. Technol."],"published-print":{"date-parts":[[2021,10]]},"DOI":"10.1109\/tvt.2021.3108525","type":"journal-article","created":{"date-parts":[[2021,8,30]],"date-time":"2021-08-30T21:18:54Z","timestamp":1630358334000},"page":"9826-9837","source":"Crossref","is-referenced-by-count":32,"title":["Safe Planning and Control Under Uncertainty for Self-Driving"],"prefix":"10.1109","volume":"70","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3475-6714","authenticated-orcid":false,"given":"Shivesh","family":"Khaitan","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5703-9112","authenticated-orcid":false,"given":"Qin","family":"Lin","sequence":"additional","affiliation":[]},{"given":"John M.","family":"Dolan","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1469949"},{"key":"ref32","first-page":"1","article-title":"CARLA: An open urban driving simulator","author":"dosovitskiy","year":"2017","journal-title":"Proc 1st Annu Conf Robot Learn"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2014.902537"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7039601"},{"key":"ref34","article-title":"Gurobi optimizer reference manual","year":"2020"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814758"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.3182\/20070822-3-ZA-2920.00006"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.055"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796049"},{"key":"ref14","first-page":"109","author":"deits","year":"2015","journal-title":"Computing Large Convex Regions of Obstacle-Free Space Through Semidefinite Programming"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907209"},{"key":"ref17","first-page":"6627","article-title":"Reachflow: An online safety assurance framework for waypoint-following of self-driving cars","author":"lin","year":"2020","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569425"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995951"},{"key":"ref28","author":"goodwin","year":"2014","journal-title":"Adaptive Filtering Prediction and Control"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/COASE.2016.7743384"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2018.2843178"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2010-4263"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1504\/IJVAS.2005.008237"},{"key":"ref29","article-title":"Invariant approximations of robustly positively invariant sets for constrained linear discrete-time systems subject to bounded disturbances","author":"rakovi?","year":"2004","journal-title":"Dept Eng Univ Cambridge Cambridge U K"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2016.2555853"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2004.08.019"},{"key":"ref7","volume":"812","author":"l\u00f6fberg","year":"2003","journal-title":"Minimax approaches to robust model predictive control"},{"key":"ref2","article-title":"Baidu apollo em motion planner","author":"fan","year":"2018"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1145\/3132446.3134865"},{"key":"ref1","first-page":"2377","article-title":"Safe planning for self-driving via adaptive constrained ILQR","author":"pan","year":"2020","journal-title":"Proc Int Conf Intell Robots Syst"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995816"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2019.2916354"},{"key":"ref21","first-page":"987","article-title":"Optimal trajectory generation for dynamic street scenarios in a frenet frame","author":"werling","year":"2010","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v33i01.33016120"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2015.7170779"},{"key":"ref26","first-page":"258","author":"chen","year":"2013","journal-title":"Proc Int Conf Comput Aided Verification"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00683"}],"container-title":["IEEE Transactions on Vehicular Technology"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/25\/9576661\/09525177.pdf?arnumber=9525177","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T14:48:38Z","timestamp":1652194118000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9525177\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10]]},"references-count":34,"journal-issue":{"issue":"10"},"URL":"https:\/\/doi.org\/10.1109\/tvt.2021.3108525","relation":{},"ISSN":["0018-9545","1939-9359"],"issn-type":[{"value":"0018-9545","type":"print"},{"value":"1939-9359","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,10]]}}}