{"id":"https://openalex.org/W3076572579","doi":"https://doi.org/10.1109/cdc42340.2020.9304324","title":"Construction of control barrier function and C<sup>2</sup> reference trajectory for constrained attitude maneuvers","display_name":"Construction of control barrier function and C<sup>2</sup> reference trajectory for constrained attitude maneuvers","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3076572579","doi":"https://doi.org/10.1109/cdc42340.2020.9304324","mag":"3076572579"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304324","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.08921","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101872416","display_name":"Xiao Tan","orcid":"https://orcid.org/0000-0001-6012-2761"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Xiao Tan","raw_affiliation_strings":["Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101872416"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.4451,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.62436776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3329","last_page":"3334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9914000034332275,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9905999898910522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7214289903640747},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5824859142303467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5386767983436584},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5285075306892395},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5206146240234375},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5172331929206848},{"id":"https://openalex.org/keywords/certificate","display_name":"Certificate","score":0.4882107079029083},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4496486783027649},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4379889965057373},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.4189072251319885},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3305756449699402},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3251921236515045},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3212697207927704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18933644890785217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17266282439231873},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09295034408569336},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08499851822853088}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7214289903640747},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5824859142303467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5386767983436584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5285075306892395},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5206146240234375},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5172331929206848},{"id":"https://openalex.org/C96865113","wikidata":"https://www.wikidata.org/wiki/Q2946816","display_name":"Certificate","level":2,"score":0.4882107079029083},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4496486783027649},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4379889965057373},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.4189072251319885},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3305756449699402},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3251921236515045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3212697207927704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18933644890785217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17266282439231873},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09295034408569336},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08499851822853088},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc42340.2020.9304324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304324","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2008.08921","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.08921","pdf_url":"https://arxiv.org/pdf/2008.08921","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:DiVA.org:kth-301188","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-301188","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.08921","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.08921","pdf_url":"https://arxiv.org/pdf/2008.08921","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1510199534","https://openalex.org/W1563025442","https://openalex.org/W1737290713","https://openalex.org/W1968252327","https://openalex.org/W1970439956","https://openalex.org/W2024716784","https://openalex.org/W2069522844","https://openalex.org/W2103867753","https://openalex.org/W2118447418","https://openalex.org/W2139799964","https://openalex.org/W2155156088","https://openalex.org/W2225589210","https://openalex.org/W2325101949","https://openalex.org/W2560504659","https://openalex.org/W2607474514","https://openalex.org/W2620840602","https://openalex.org/W2903158723","https://openalex.org/W2964350522","https://openalex.org/W2982037911","https://openalex.org/W3011888914","https://openalex.org/W3045947256","https://openalex.org/W3076572579","https://openalex.org/W3098925401","https://openalex.org/W4244471395","https://openalex.org/W6675872807","https://openalex.org/W6756803276"],"related_works":["https://openalex.org/W4237277701","https://openalex.org/W2121424666","https://openalex.org/W1587028174","https://openalex.org/W4301250310","https://openalex.org/W2030928163","https://openalex.org/W1941703695","https://openalex.org/W2067700950","https://openalex.org/W1669998927","https://openalex.org/W3131574667","https://openalex.org/W4323768008"],"abstract_inverted_index":{"Constrained":[0],"attitude":[1],"maneuvers":[2],"have":[3],"numerous":[4],"applications":[5],"in":[6,114,131],"robotics":[7],"and":[8,31,66,112],"aerospace.":[9],"In":[10,38],"our":[11],"previous":[12,68],"work,":[13,40],"a":[14,27,32,43,47,74,84,88,105],"general":[15],"framework":[16],"to":[17,120,140],"this":[18,39],"problem":[19],"was":[20],"proposed":[21,119,146],"with":[22],"resolution":[23],"completeness":[24],"guarantee.":[25],"However,":[26],"smooth":[28],"reference":[29,53],"trajectory":[30,54],"low-level":[33],"safety-critical":[34],"controller":[35],"were":[36],"lacking.":[37],"we":[41,72],"propose":[42,73],"novel":[44,75],"construction":[45],"of":[46,90,127,144],"C":[48],"<sup":[49],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[50],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[51],"continuous":[52],"based":[55],"on":[56,59,80,93,108],"B\u00e9zier":[57],"curves":[58],"SO(3)":[60,81,94],"that":[61,82],"evolves":[62],"within":[63],"predetermined":[64],"cells":[65,92],"eliminates":[67],"stop-and-go":[69],"behavior.":[70],"Moreover,":[71],"zeroing":[76],"control":[77,110,129],"barrier":[78],"function":[79],"provides":[83],"safety":[85,100],"certificate":[86,101],"over":[87],"set":[89],"overlapping":[91],"while":[95],"avoiding":[96],"nonsmooth":[97],"analysis.":[98],"The":[99],"is":[102,118],"given":[103,139],"as":[104],"linear":[106,133],"constraint":[107,134],"the":[109,122,125,128,132,142,145],"input":[111,130],"implemented":[113],"real-time.":[115],"A":[116],"remedy":[117],"handle":[121],"states":[123],"where":[124],"coefficient":[126],"vanishes.":[135],"Numerical":[136],"simulations":[137],"are":[138],"verify":[141],"advantages":[143],"method.":[147]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2020-08-24T00:00:00"}