{"id":"https://openalex.org/W4414433434","doi":"https://doi.org/10.1109/case58245.2025.11163836","title":"Improving Feasibility and Safety of Nonlinear MPC with Control Barrier Function via Learning-based Non-Convex Reachable Sets","display_name":"Improving Feasibility and Safety of Nonlinear MPC with Control Barrier Function via Learning-based Non-Convex Reachable Sets","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414433434","doi":"https://doi.org/10.1109/case58245.2025.11163836"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11163836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","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/A5101653639","display_name":"Yucheng Tang","orcid":"https://orcid.org/0000-0001-8738-9108"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yucheng Tang","raw_affiliation_strings":["Proximity Robotics &amp; Automation GmbH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Proximity Robotics &amp; Automation GmbH","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357693","display_name":"Tao Chen","orcid":"https://orcid.org/0000-0001-5320-9930"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tao Chen","raw_affiliation_strings":["Karlsruhe Institut of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe Institut of Technology","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075805786","display_name":"Bj\u00f6rn Hein","orcid":"https://orcid.org/0000-0001-9569-5201"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bj\u00f6rn Hein","raw_affiliation_strings":["Karlsruhe University of Applied Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences","institution_ids":["https://openalex.org/I70886390"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104001773","display_name":"Ilshat Mamaev","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ilshat Mamaev","raw_affiliation_strings":["Proximity Robotics &amp; Automation GmbH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Proximity Robotics &amp; Automation GmbH","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1907","last_page":"1914"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9990000128746033,"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":0.9990000128746033,"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/T10096","display_name":"Metal-Organic Frameworks: Synthesis and Applications","score":0.9286999702453613,"subfield":{"id":"https://openalex.org/subfields/1604","display_name":"Inorganic Chemistry"},"field":{"id":"https://openalex.org/fields/16","display_name":"Chemistry"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10192","display_name":"Catalytic Processes in Materials Science","score":0.9186000227928162,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.8629999756813049},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6173999905586243},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5971999764442444},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5552999973297119},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5037999749183655},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.491100013256073},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4650000035762787},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4185999929904938},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4041000008583069}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8629999756813049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6389999985694885},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6173999905586243},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5971999764442444},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5552999973297119},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5037999749183655},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.491100013256073},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4706000089645386},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4650000035762787},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4185999929904938},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4041000008583069},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.38260000944137573},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.3781000077724457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3564000129699707},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3328000009059906},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C91873725","wikidata":"https://www.wikidata.org/wiki/Q3445816","display_name":"Function approximation","level":3,"score":0.31049999594688416},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.2858999967575073},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C111110010","wikidata":"https://www.wikidata.org/wiki/Q2627315","display_name":"Convex combination","level":4,"score":0.2797999978065491},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C60908668","wikidata":"https://www.wikidata.org/wiki/Q690207","display_name":"Perceptron","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.26649999618530273},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.2554999887943268},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11163836","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163836","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2606133973","https://openalex.org/W2807662017","https://openalex.org/W2963488412","https://openalex.org/W2968690139","https://openalex.org/W3094402048","https://openalex.org/W3107034996","https://openalex.org/W3143477657","https://openalex.org/W3180711880","https://openalex.org/W3186317065","https://openalex.org/W4226195072","https://openalex.org/W4312847395","https://openalex.org/W4380839156","https://openalex.org/W4405785126","https://openalex.org/W4414050725"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,31,77],"learning-based":[4,79],"reachability-aware":[5],"(RA)":[6],"nonlinear":[7,26],"model":[8],"predictive":[9],"control":[10,15],"(NMPC)":[11],"framework":[12],"with":[13,86],"discrete":[14],"barrier":[16],"functions":[17],"(DCBF)":[18],"to":[19,42,103,148],"improve":[20],"safety":[21,131],"and":[22,51,142,145,153],"feasibility":[23,39,128,146],"for":[24],"complex,":[25],"systems,":[27],"specifically":[28],"demonstrated":[29],"on":[30,65],"tractor-trailer":[32],"system.":[33],"Traditional":[34],"NMPC-CBF":[35],"methods":[36,63],"often":[37],"encounter":[38],"issues":[40],"due":[41],"the":[43,48,52,106,118,122,136],"potential":[44],"empty":[45],"intersection":[46],"between":[47],"reachable":[49,69,92,108],"set":[50],"safe":[53],"region":[54,109],"confined":[55],"by":[56],"CBF":[57],"constraints.":[58],"Additionally,":[59],"standard":[60],"reachability":[61,83],"analysis":[62,84],"rely":[64],"oversimplified":[66],"approximations":[67],"of":[68],"sets.":[70,93],"To":[71],"address":[72],"these":[73],"challenges,":[74],"we":[75],"introduce":[76],"novel":[78],"approach":[80],"leveraging":[81],"sampling-based":[82],"combined":[85],"Alpha":[87],"Shapes,":[88],"accurately":[89],"capturing":[90],"non-convex":[91],"A":[94],"Multi-Layer":[95],"Perceptron":[96],"(MLP)":[97],"neural":[98],"network":[99],"is":[100],"trained":[101],"offline":[102],"efficiently":[104],"approximate":[105],"infeasible":[107],"online.":[110],"By":[111],"integrating":[112],"this":[113],"learned":[114],"approximation":[115],"directly":[116],"into":[117],"NMPC\u2019s":[119],"objective":[120],"function,":[121],"proposed":[123],"method":[124],"significantly":[125],"enhances":[126],"optimization":[127],"without":[129],"compromising":[130],"guarantees.":[132],"Numerical":[133],"experiments":[134],"validate":[135],"approach,":[137],"demonstrating":[138],"better":[139],"constraint":[140],"handling,":[141],"enhanced":[143],"maneuverability":[144],"compared":[147],"conventional":[149],"convex":[150],"hull-based":[151],"RA-NMPC-DCBF":[152],"slack":[154],"variable-based":[155],"NMPC.":[156]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
