{"id":"https://openalex.org/W1980569135","doi":"https://doi.org/10.1109/cdc.2014.7040372","title":"Control barrier function based quadratic programs with application to adaptive cruise control","display_name":"Control barrier function based quadratic programs with application to adaptive cruise control","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1980569135","doi":"https://doi.org/10.1109/cdc.2014.7040372","mag":"1980569135"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2014.7040372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2014.7040372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"53rd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"article","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/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Dept. of Mechanical Engineering, Texas A&M University, College Station, TX","Department of Mechanical Engineering , Texas A&M University, College Station, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Texas A&M University, College Station, TX","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Texas A&M University, College Station, USA","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessy W. Grizzle","raw_affiliation_strings":["Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI","Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047674203","display_name":"Paulo Tabuada","orcid":"https://orcid.org/0000-0002-3417-0951"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paulo Tabuada","raw_affiliation_strings":["Dept. of Electrical Engineering, University of California at Los Angles","Department of Electrical Engineering, University of California at Los Angles, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, University of California at Los Angles","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"Department of Electrical Engineering, University of California at Los Angles, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039171820"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":22.8834,"has_fulltext":false,"cited_by_count":918,"citation_normalized_percentile":{"value":0.99660759,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6271","last_page":"6278"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9904000163078308,"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/T10524","display_name":"Traffic control and management","score":0.9901000261306763,"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/cruise-control","display_name":"Cruise control","score":0.8831760883331299},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.731769323348999},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7173329591751099},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6622023582458496},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6262692809104919},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.5800614356994629},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.49140965938568115},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4791916608810425},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.46463799476623535},{"id":"https://openalex.org/keywords/cooperative-adaptive-cruise-control","display_name":"Cooperative Adaptive Cruise Control","score":0.44946011900901794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44942355155944824},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.427808940410614},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42715543508529663},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3349674940109253},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09425586462020874},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08541542291641235}],"concepts":[{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.8831760883331299},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.731769323348999},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7173329591751099},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6622023582458496},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6262692809104919},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.5800614356994629},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.49140965938568115},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4791916608810425},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.46463799476623535},{"id":"https://openalex.org/C2780150632","wikidata":"https://www.wikidata.org/wiki/Q5167872","display_name":"Cooperative Adaptive Cruise Control","level":4,"score":0.44946011900901794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44942355155944824},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.427808940410614},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42715543508529663},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3349674940109253},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09425586462020874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08541542291641235},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2014.7040372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2014.7040372","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"53rd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:92808","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.653.5125","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.653.5125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ames.tamu.edu/CLF_QP_ACC_final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W187917816","https://openalex.org/W1607353007","https://openalex.org/W1749724378","https://openalex.org/W1972149633","https://openalex.org/W1986164962","https://openalex.org/W2004430059","https://openalex.org/W2023126268","https://openalex.org/W2023250353","https://openalex.org/W2026616272","https://openalex.org/W2033118636","https://openalex.org/W2041076275","https://openalex.org/W2043695188","https://openalex.org/W2062373349","https://openalex.org/W2067530543","https://openalex.org/W2073177254","https://openalex.org/W2107556430","https://openalex.org/W2111204826","https://openalex.org/W2132479764","https://openalex.org/W2140154822","https://openalex.org/W2140531311","https://openalex.org/W2170973929","https://openalex.org/W2171879251","https://openalex.org/W2612952478","https://openalex.org/W2951886797","https://openalex.org/W4241586728","https://openalex.org/W4250589301","https://openalex.org/W6643032878","https://openalex.org/W6646776694"],"related_works":["https://openalex.org/W4239082859","https://openalex.org/W2810760421","https://openalex.org/W2179921393","https://openalex.org/W2777953498","https://openalex.org/W3217133416","https://openalex.org/W2124723444","https://openalex.org/W2063190736","https://openalex.org/W2375061895","https://openalex.org/W2356016423","https://openalex.org/W1541307762"],"abstract_inverted_index":{"This":[0,75],"paper":[1],"develops":[2],"a":[3,42,46,51,63,79,120,166,177],"control":[4,8,12,82,91,112,131,162],"methodology":[5],"that":[6],"unifies":[7],"barrier":[9,47,64,83],"functions":[10,14,114],"and":[11,30,180,185],"Lyapunov":[13,113],"through":[15],"quadratic":[16,121],"programs.":[17],"The":[18],"result":[19],"is":[20,169],"demonstrated":[21],"on":[22,139,176,183],"adaptive":[23,157],"cruise":[24,158],"control,":[25,159],"which":[26],"presents":[27],"both":[28],"safety":[29],"performance":[31],"considerations,":[32],"as":[33,35],"well":[34],"actuator":[36],"bounds.":[37],"We":[38],"begin":[39],"by":[40,134,147,171],"presenting":[41],"novel":[43],"notion":[44,80],"of":[45,57,62,72,81,100,119,130,143,156,164],"function":[48,65,84],"associated":[49],"with":[50,111],"set,":[52],"formulated":[53],"in":[54,89,116,153],"the":[55,60,73,90,101,117,127,140,144,154,161,172],"context":[56,118,155],"Lyapunov-like":[58],"conditions;":[59],"existence":[61],"satisfying":[66],"these":[67,104],"conditions":[68,138,175],"implies":[69],"forward":[70,98],"invariance":[71,99],"set.":[74,102],"formulation":[76],"naturally":[77,108],"yields":[78],"(CBF),":[85],"yielding":[86],"inequality":[87],"constraints":[88,182],"input":[92],"that,":[93],"when":[94],"satisfied,":[95],"again":[96],"imply":[97],"Through":[103],"constructions,":[105],"CBFs":[106],"can":[107],"be":[109],"unified":[110],"(CLFs)":[115],"program":[122],"(QP);":[123],"this":[124],"allows":[125],"for":[126],"simultaneous":[128],"achievement":[129],"objectives":[132],"(represented":[133,146],"CLFs)":[135],"subject":[136],"to":[137],"admissible":[141],"states":[142],"system":[145],"CBFs).":[148],"These":[149],"formulations":[150],"are":[151],"illustrated":[152],"where":[160],"objective":[163],"achieving":[165],"desired":[167],"speed":[168],"balanced":[170],"minimum":[173],"following":[174],"lead":[178],"car":[179],"force-based":[181],"acceleration":[184],"braking.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":145},{"year":2024,"cited_by_count":162},{"year":2023,"cited_by_count":127},{"year":2022,"cited_by_count":112},{"year":2021,"cited_by_count":116},{"year":2020,"cited_by_count":94},{"year":2019,"cited_by_count":61},{"year":2018,"cited_by_count":26},{"year":2017,"cited_by_count":25},{"year":2016,"cited_by_count":27},{"year":2015,"cited_by_count":10}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}