{"id":"https://openalex.org/W2079051276","doi":"https://doi.org/10.1109/acc.2012.6314916","title":"Safety controller synthesis using human generated trajectories: Nonlinear dynamics with feedback linearization and differential flatness","display_name":"Safety controller synthesis using human generated trajectories: Nonlinear dynamics with feedback linearization and differential flatness","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W2079051276","doi":"https://doi.org/10.1109/acc.2012.6314916","mag":"2079051276"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2012.6314916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6314916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029921181","display_name":"A. Agung Julius","orcid":"https://orcid.org/0000-0002-0970-3226"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. A. Julius","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","Department of Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute, Troy, NY 12180"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute, Troy, NY 12180","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087295333","display_name":"Andrew Winn","orcid":null},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. K. Winn","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","Department of Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute, Troy, NY 12180"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Department of Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute, Troy, NY 12180","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":2.2866,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.8774599,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4981","issue":null,"first_page":"709","last_page":"714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9577000141143799,"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/robustness","display_name":"Robustness (evolution)","score":0.6781085729598999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6447053551673889},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5798447132110596},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5775079131126404},{"id":"https://openalex.org/keywords/bisimulation","display_name":"Bisimulation","score":0.5557380318641663},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.553852915763855},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5258116126060486},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.504144549369812},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4600368142127991},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.458133727312088},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.44690650701522827},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3801531493663788},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.28765392303466797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1446678638458252},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12135457992553711},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08671349287033081}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6781085729598999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6447053551673889},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5798447132110596},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5775079131126404},{"id":"https://openalex.org/C135315306","wikidata":"https://www.wikidata.org/wiki/Q866364","display_name":"Bisimulation","level":2,"score":0.5557380318641663},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.553852915763855},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5258116126060486},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.504144549369812},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4600368142127991},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.458133727312088},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.44690650701522827},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3801531493663788},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.28765392303466797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1446678638458252},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12135457992553711},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08671349287033081},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2012.6314916","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6314916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.400.8871","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.400.8871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ecse.rpi.edu/homepages/agung/Research/acc2012final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W582265575","https://openalex.org/W1508536183","https://openalex.org/W1519302343","https://openalex.org/W1676597814","https://openalex.org/W1997539213","https://openalex.org/W2011979623","https://openalex.org/W2044473985","https://openalex.org/W2065297540","https://openalex.org/W2076568469","https://openalex.org/W2079042739","https://openalex.org/W2095072256","https://openalex.org/W2099551858","https://openalex.org/W2106816694","https://openalex.org/W2114578185","https://openalex.org/W2116364955","https://openalex.org/W2133760360","https://openalex.org/W2134491302","https://openalex.org/W2151104204","https://openalex.org/W2159461839","https://openalex.org/W2164957184","https://openalex.org/W2166691751","https://openalex.org/W2963372593","https://openalex.org/W4205731808","https://openalex.org/W4232303308","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W4306884924","https://openalex.org/W4388919003","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W2381676799","https://openalex.org/W2912982761"],"abstract_inverted_index":{"The":[0,55,103],"aim":[1],"of":[2,65,74,88,91,117,134],"the":[3,24,63,72,86,115,118,128,157],"safety":[4,100],"controller":[5,13,48,158],"synthesis":[6],"problem":[7],"is":[8,62,69,120,153],"to":[9,82,122,131,155],"synthesize":[10,156],"a":[11,31,41,47],"feedback":[12,138],"that":[14,19],"results":[15,61,130],"in":[16,30,98,106],"closed-loop":[17],"trajectories":[18,28,90],"meet":[20],"certain":[21],"criteria,":[22],"namely,":[23],"state":[25],"or":[26],"output":[27],"terminate":[29],"Goal":[32],"set":[33],"without":[34],"entering":[35],"an":[36],"Unsafe":[37],"set.":[38],"We":[39,126],"propose":[40],"formal":[42],"method":[43],"for":[44],"synthesizing":[45],"such":[46],"using":[49,71,159],"finitely":[50],"many":[51],"human":[52,160],"generated":[53,161],"trajectories.":[54],"main":[56],"theoretical":[57],"idea":[58],"behind":[59],"our":[60,111],"concept":[64],"trajectory":[66],"robustness,":[67],"which":[68,163],"established":[70],"theory":[73],"approximate":[75],"bisimulation.":[76],"Approximate":[77],"bisimulation":[78],"has":[79],"been":[80],"used":[81],"establish":[83],"robustness":[84],"(in":[85],"L\u221esense)":[87],"execution":[89],"dynamical":[92,136],"systems":[93],"and":[94,140],"hybrid":[95],"systems,":[96,137],"resulting":[97],"trajectory-based":[99],"verification":[101],"procedures.":[102],"work":[104,113],"reported":[105],"this":[107],"paper":[108],"builds":[109],"on":[110],"earlier":[112],"where":[114,151],"dynamics":[116],"system":[119],"assumed":[121],"be":[123],"affine":[124],"linear.":[125],"extend":[127],"existing":[129],"special":[132],"classes":[133],"nonlinear":[135],"linearizable":[139],"differentially":[141],"flat":[142],"systems.":[143],"For":[144],"both":[145],"cases,":[146],"we":[147],"present":[148],"some":[149],"examples":[150],"it":[152],"possible":[154],"trajectories,":[162],"are":[164],"obtained":[165],"through":[166],"interactive":[167],"computer":[168],"programs":[169],"with":[170],"graphical":[171],"interface":[172],"(computer":[173],"games).":[174]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}