{"id":"https://openalex.org/W2013967953","doi":"https://doi.org/10.1109/acc.2013.6580513","title":"Optimization of human generated trajectories for safety controller synthesis","display_name":"Optimization of human generated trajectories for safety controller synthesis","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2013967953","doi":"https://doi.org/10.1109/acc.2013.6580513","mag":"2013967953"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6580513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","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/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":"Andrew K. Winn","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA"],"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":"Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","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. Agung Julius","raw_affiliation_strings":["Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA"],"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":"Dept. of Electr., Comput., & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA","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":0.8315,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.74577527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4981","issue":null,"first_page":"4374","last_page":"4379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10142","display_name":"Formal Methods in Verification","score":0.9876999855041504,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9857000112533569,"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/controller","display_name":"Controller (irrigation)","score":0.7423381805419922},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6918323040008545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6720614433288574},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6173632740974426},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5991361141204834},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5346875190734863},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.5311065316200256},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4747612476348877},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.46299323439598083},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.46246451139450073},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4518851041793823},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.42876309156417847},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3827187418937683},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2626572847366333},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24026697874069214},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18903273344039917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14656922221183777},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12316125631332397},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.10455536842346191}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7423381805419922},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6918323040008545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6720614433288574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6173632740974426},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5991361141204834},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5346875190734863},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.5311065316200256},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4747612476348877},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.46299323439598083},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.46246451139450073},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4518851041793823},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.42876309156417847},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3827187418937683},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2626572847366333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24026697874069214},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18903273344039917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14656922221183777},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12316125631332397},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.10455536842346191},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2013.6580513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"}],"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W198091129","https://openalex.org/W227721935","https://openalex.org/W1424654272","https://openalex.org/W1486932855","https://openalex.org/W1508536183","https://openalex.org/W1534416612","https://openalex.org/W1550397500","https://openalex.org/W1577858716","https://openalex.org/W1656897628","https://openalex.org/W1676597814","https://openalex.org/W1897974356","https://openalex.org/W1967468346","https://openalex.org/W1971086298","https://openalex.org/W1980222041","https://openalex.org/W1995433848","https://openalex.org/W2011979623","https://openalex.org/W2044473985","https://openalex.org/W2079042739","https://openalex.org/W2079051276","https://openalex.org/W2099551858","https://openalex.org/W2126605878","https://openalex.org/W2133760360","https://openalex.org/W2144884795","https://openalex.org/W2151657615","https://openalex.org/W2153219011","https://openalex.org/W2156958982","https://openalex.org/W2157202548","https://openalex.org/W2159461839","https://openalex.org/W2162218551","https://openalex.org/W2167916919","https://openalex.org/W2169289043","https://openalex.org/W2489467106","https://openalex.org/W2566565178","https://openalex.org/W2731688511","https://openalex.org/W2963372593","https://openalex.org/W4205731808","https://openalex.org/W6632994751","https://openalex.org/W6639853348","https://openalex.org/W6682471591"],"related_works":["https://openalex.org/W2766678059","https://openalex.org/W2015288657","https://openalex.org/W2003479292","https://openalex.org/W3135469233","https://openalex.org/W3101253900","https://openalex.org/W2133687134","https://openalex.org/W2347892399","https://openalex.org/W2047206873","https://openalex.org/W3038596169","https://openalex.org/W345637666"],"abstract_inverted_index":{"The":[0],"aim":[1],"of":[2,86,130,146],"the":[3,25,70,77,84,107,112,117,128,135,161],"optimal":[4],"safety":[5,61],"controller":[6,14,132],"synthesis":[7],"problem":[8,109],"is":[9,81,89,164],"to":[10,57,75,104,166],"synthesize":[11,58,76],"a":[12,32,48,59,65,99,124,131,148,153,157],"feedback":[13],"that":[15,20,96],"results":[16],"in":[17,31,95,138],"closed-loop":[18],"trajectories":[19,29,56,73],"meet":[21],"certain":[22],"criteria,":[23],"namely,":[24],"state":[26],"or":[27],"output":[28],"terminate":[30],"goal":[33],"set":[34,39],"without":[35,110],"entering":[36],"an":[37,144],"unsafe":[38],"while":[40],"optimizing":[41,69,147],"some":[42],"function.":[43],"Our":[44,79],"previous":[45,140],"work":[46],"presented":[47],"method":[49,67,80,122],"for":[50,68,126,152],"using":[51,134],"finitely":[52],"many":[53],"human":[54,71,149],"generated":[55,72,150],"non-optimal":[60],"controller.":[62,78],"We":[63,142],"propose":[64],"formal":[66],"used":[74],"based":[82,102],"on":[83],"calculus":[85],"variations,":[87],"but":[88],"different":[90],"from":[91],"other":[92],"similar":[93],"algorithms":[94],"it":[97,163],"uses":[98],"gradient":[100],"descent":[101],"approach":[103],"directly":[105],"solve":[106],"optimization":[108],"formulating":[111],"optimality":[113],"conditions":[114],"given":[115],"by":[116],"Pontryagin":[118],"Minimum":[119],"Principle.":[120],"This":[121],"provides":[123],"tool":[125],"improving":[127],"performance":[129],"synthesized":[133],"methods":[136],"outlined":[137],"our":[139],"work.":[141],"present":[143],"example":[145],"trajectory":[151],"nonlinear":[154],"system,":[155],"specifically":[156],"quadrotor,":[158],"and":[159],"quantify":[160],"improvements":[162],"able":[165],"generate.":[167]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}