{"id":"https://openalex.org/W4415060226","doi":"https://doi.org/10.1007/978-3-032-08049-3_8","title":"BC-MPPI: A Probabilistic Constraint Layer for\u00a0Safe Model-Predictive Path-Integral Control","display_name":"BC-MPPI: A Probabilistic Constraint Layer for\u00a0Safe Model-Predictive Path-Integral Control","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415060226","doi":"https://doi.org/10.1007/978-3-032-08049-3_8"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-032-08049-3_8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-032-08049-3_8","pdf_url":null,"source":{"id":"https://openalex.org/S2764900261","display_name":"Communications in computer and information science","issn_l":"1865-0929","issn":["1865-0929","1865-0937"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Communications in Computer and Information Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-05317578/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119839601","display_name":"Odichimnma Ezeji","orcid":null},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Odichimnma Ezeji","raw_affiliation_strings":["Department of Computer Science, University College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119839602","display_name":"Michael Ziegltrum","orcid":null},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Ziegltrum","raw_affiliation_strings":["Department of Computer Science, University College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090269671","display_name":"Giulio Turrisi","orcid":"https://orcid.org/0000-0003-3007-3553"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Turrisi","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002888578","display_name":"Tommaso Belvedere","orcid":"https://orcid.org/0000-0001-5128-1576"},"institutions":[{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I4210133778","display_name":"Centre Inria de l'Universit\u00e9 de Rennes","ror":"https://ror.org/04040yw90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210133778"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Tommaso Belvedere","raw_affiliation_strings":["Inria, IRISA, Campus de Beaulieu, Rennes Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inria, IRISA, Campus de Beaulieu, Rennes Cedex, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I4210133778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091705160","display_name":"Valerio Modugno","orcid":"https://orcid.org/0000-0002-5177-428X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Valerio Modugno","raw_affiliation_strings":["Department of Computer Science, University College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, UK","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091705160"],"corresponding_institution_ids":["https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":6.6203,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.97318236,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"131","last_page":"143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7419999837875366},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7116000056266785},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6804999709129333},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4652999937534332},{"id":"https://openalex.org/keywords/surrogate-model","display_name":"Surrogate model","score":0.45820000767707825},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.453900009393692},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.448199987411499},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.4449999928474426},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41620001196861267},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.41429999470710754}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7419999837875366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7268999814987183},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7116000056266785},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6804999709129333},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49570000171661377},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4652999937534332},{"id":"https://openalex.org/C131675550","wikidata":"https://www.wikidata.org/wiki/Q7646884","display_name":"Surrogate model","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.453900009393692},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.448199987411499},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41620001196861267},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.41429999470710754},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4122999906539917},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.38989999890327454},{"id":"https://openalex.org/C18653775","wikidata":"https://www.wikidata.org/wiki/Q1333358","display_name":"Joint probability distribution","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C175309249","wikidata":"https://www.wikidata.org/wiki/Q725864","display_name":"Pipeline transport","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.35260000824928284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34459999203681946},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.33709999918937683},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3149000108242035},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.30379998683929443},{"id":"https://openalex.org/C57830394","wikidata":"https://www.wikidata.org/wiki/Q278079","display_name":"Posterior probability","level":3,"score":0.30169999599456787},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C42259789","wikidata":"https://www.wikidata.org/wiki/Q1392940","display_name":"Fail-safe","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2671999931335449},{"id":"https://openalex.org/C147297375","wikidata":"https://www.wikidata.org/wiki/Q6674930","display_name":"Look-ahead","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.26489999890327454}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-032-08049-3_8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-032-08049-3_8","pdf_url":null,"source":{"id":"https://openalex.org/S2764900261","display_name":"Communications in computer and information science","issn_l":"1865-0929","issn":["1865-0929","1865-0937"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Communications in Computer and Information Science","raw_type":"book-chapter"},{"id":"pmh:oai:HAL:hal-05317578v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05317578","pdf_url":"https://hal.science/hal-05317578/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"AREA 2025 - 5th Workshop on Agents and Robots for reliable Engineered Autonomy, Oct 2025, Bologna, Italy. pp.131-143, ⟨10.1007/978-3-032-08049-3_8⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05317578v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05317578","pdf_url":"https://hal.science/hal-05317578/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"AREA 2025 - 5th Workshop on Agents and Robots for reliable Engineered Autonomy, Oct 2025, Bologna, Italy. pp.131-143, ⟨10.1007/978-3-032-08049-3_8⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4415060226.pdf"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1567512734","https://openalex.org/W2090528409","https://openalex.org/W2134673975","https://openalex.org/W2158782408","https://openalex.org/W2410617946","https://openalex.org/W2584986912","https://openalex.org/W2963238245","https://openalex.org/W2963805801","https://openalex.org/W3127454018","https://openalex.org/W3205566932","https://openalex.org/W4211049957","https://openalex.org/W4319787917","https://openalex.org/W4319998045","https://openalex.org/W4383097451","https://openalex.org/W4386702918","https://openalex.org/W4387682164","https://openalex.org/W4405785135","https://openalex.org/W4405787785","https://openalex.org/W4406890425","https://openalex.org/W4413393636"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-11T00:00:00"}