Paper Citation Record · LEDGER

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC

As of 14 August 2026, this Paper Citation Record lists 24 of 24 outbound references and 1 inbound Pith citation observation for arXiv:2502.02550.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2502.02550 v1

Coverage vector

measured 24 of 24 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-09T11:53:20.885771Z

measured 25 of 25 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-14T06:32:32.682623+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-05-23T20:30:15.520002Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-05-23T20:33:25.762474Z

Reference resolution

24 of 24 outbound references displayed

verified exact0
verified fuzzy21
unresolved3
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 2c3630f5-bb63-4aa8-815f-7808bdaf4d8e · outbound

This paper cites Wayformer: Motion forecasting via simple i& efficient at- tention networks,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Wayformer: Motion forecasting via simple i& efficient at- tention networks,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.281019Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8504588f-d95f-4730-8248-459dfbf37f59 · outbound

This paper cites Motion transformer with global intention localization and local movement refinement,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Motion transformer with global intention localization and local movement refinement,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.270005Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8e914487-ccbd-4a01-abf3-9e2ba6a89edb · outbound

This paper cites Improv- ing out-of-distribution generalization of trajectory prediction for au- tonomous driving via polynomial representations,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Improv- ing out-of-distribution generalization of trajectory prediction for au- tonomous driving via polynomial representations,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.259494Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation a606f8ad-9f5c-4171-81ec-38c66b5b3391 · outbound

This paper cites Informed spectral normalized gaussian processes for trajectory prediction,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Informed spectral normalized gaussian processes for trajectory prediction,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.247599Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8b601a75-b4d4-4934-81c0-6898dad2fa92 · outbound

This paper cites Trajectory planning for autonomous high-speed overtaking in structured environments using robust mpc,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Trajectory planning for autonomous high-speed overtaking in structured environments using robust mpc,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.235596Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation a25dbd98-6a64-4360-9cde-bd5c7904909e · outbound

This paper cites Experimental vali- dation of safe mpc for autonomous driving in uncertain environments,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Experimental vali- dation of safe mpc for autonomous driving in uncertain environments,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.223876Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3739cc03-fbbe-4129-8245-310c931a46ce · outbound

This paper cites Multistage Stochastic Model Predictive Control for Urban Automated Driving,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Multistage Stochastic Model Predictive Control for Urban Automated Driving,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.103877Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 063f3395-2d28-4e24-bf0a-50557ec45d07 · outbound

This paper cites Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.092558Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 34f842bd-f8a9-46b8-aa2e-5e44531bb573 · outbound

This paper cites Scenario-Based Decision-Making, Planning and Control for Interaction-Aware Au- tonomous Driving on Highways,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Scenario-Based Decision-Making, Planning and Control for Interaction-Aware Au- tonomous Driving on Highways,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.080820Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation d14cb4af-f1b2-4d73-8b37-7260b4a56524 · outbound

This paper cites Interactive multi-modal motion planning with branch model predictive control,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Interactive multi-modal motion planning with branch model predictive control,

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-09T11:53:20.832250Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fa52460c-6295-4cc0-a353-93b5f8ae1c82 · outbound

This paper cites Automated lane merging via game theory and branch model predictive control,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Automated lane merging via game theory and branch model predictive control,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.061169Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation d537b44c-9a04-421e-aeb7-6e28280c8363 · outbound

This paper cites Resilient Branching MPC for Multi-Vehicle Traffic Scenarios Using Adversarial Disturbance Se- quences,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Resilient Branching MPC for Multi-Vehicle Traffic Scenarios Using Adversarial Disturbance Se- quences,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.050140Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 7b1be450-afff-4f23-8cdb-6954958a327e · outbound

This paper cites On Integrating POMDP and Scenario MPC for Planning under Uncertainty – with Applications to Highway Driving,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC On Integrating POMDP and Scenario MPC for Planning under Uncertainty – with Applications to Highway Driving,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.039277Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 9be4eee4-283e-496d-9860-a4b4fecacde7 · outbound

This paper cites StreetSurfGS: Scalable Urban Street Surface Reconstruction with Planar-based Gaussian Splatting.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC StreetSurfGS: Scalable Urban Street Surface Reconstruction with Planar-based Gaussian Splatting

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-09T11:53:20.846992Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9a47cfa7-24a2-4c9d-89c8-14135e654490 · outbound

This paper cites Racp: Risk-aware contingency planning with multi-modal predictions,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Racp: Risk-aware contingency planning with multi-modal predictions,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.028597Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 45fe090e-3adb-49bb-8e78-fc939d43ef48 · outbound

This paper cites Contingency games for multi-agent inter- action,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Contingency games for multi-agent inter- action,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.016947Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3a757a4d-393a-4eec-b5f6-be126ae5bbc7 · outbound

This paper cites Lookout: Diverse multi-future prediction and planning for self-driving,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Lookout: Diverse multi-future prediction and planning for self-driving,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:21.004989Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 1ab48c7a-8a95-4e6c-8d92-2fb318ac10b3 · outbound

This paper cites Real-time capable decision making for autonomous driving using reachable sets,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Real-time capable decision making for autonomous driving using reachable sets,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:20.993022Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 29098480-c629-4a46-ad5c-ea7afe352cc2 · outbound

This paper cites Using reachable sets for trajectory planning of automated vehicles,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Using reachable sets for trajectory planning of automated vehicles,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:20.981800Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 65968347-8a22-4292-aa27-c0f25e0e1023 · outbound

This paper cites Computation of solution spaces for optimization-based trajectory planning,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Computation of solution spaces for optimization-based trajectory planning,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:20.970576Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b74785cf-ab3d-4dd5-b200-b6551962c5ed · outbound

This paper cites High-speed trajectory planning for autonomous vehicles using a simple dynamic model,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC High-speed trajectory planning for autonomous vehicles using a simple dynamic model,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:20.959048Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 2f21b165-4ad5-40af-ad0c-d9af7477d287 · outbound

This paper cites Large scale interactive motion forecasting for autonomous driving: The waymo open motion dataset,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Large scale interactive motion forecasting for autonomous driving: The waymo open motion dataset,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-09T11:53:20.878064Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6be0ab49-5f25-48c8-81a1-53e29dfe5702 · outbound

This paper cites Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:20.940671Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 90454a01-2349-4ea8-bbbb-dc25573014aa · outbound

This paper cites Self-driving like a human driver instead of a robocar: Personalized comfortable driving experience for autonomous vehicles,.

Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Self-driving like a human driver instead of a robocar: Personalized comfortable driving experience for autonomous vehicles,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T11:53:20.928665Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Pith citing papers

Observation d6700a40-840e-4154-929f-2dd97e8ae16d · inbound

Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization cites this paper.

Safe and Real-Time Consistent Planning for Autonomous Vehicles in Partially Observed Environments via Parallel Consensus Optimization Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC

Reference 50

Resolution: verified exact; arxiv_id, observed 2026-05-23T20:33:25.765062Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.