{"id":"https://openalex.org/W3119686839","doi":"https://doi.org/10.1109/cdc42340.2020.9304395","title":"Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties","display_name":"Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3119686839","doi":"https://doi.org/10.1109/cdc42340.2020.9304395","mag":"3119686839"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304395","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":["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/A5089532118","display_name":"Richard Cheng","orcid":"https://orcid.org/0000-0001-8301-9169"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Richard Cheng","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047125552","display_name":"Mohammad Javad Khojasteh","orcid":"https://orcid.org/0000-0002-8459-6483"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Javad Khojasteh","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel W. Burdick","raw_affiliation_strings":["California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089532118"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":4.1207,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.95295721,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"777","last_page":"783"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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":0.9980999827384949,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9933000206947327,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.737188458442688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5640180110931396},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.522485077381134},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5204423069953918},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.46186548471450806},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.42189928889274597},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4192239046096802},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4114696979522705},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.40286073088645935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37815943360328674},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.22784948348999023},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11885178089141846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10975375771522522}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.737188458442688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5640180110931396},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.522485077381134},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5204423069953918},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.46186548471450806},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.42189928889274597},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4192239046096802},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4114696979522705},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.40286073088645935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37815943360328674},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.22784948348999023},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11885178089141846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10975375771522522},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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":1,"locations":[{"id":"doi:10.1109/cdc42340.2020.9304395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304395","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1746819321","https://openalex.org/W1965760189","https://openalex.org/W1975236902","https://openalex.org/W1980569135","https://openalex.org/W2002440441","https://openalex.org/W2142943472","https://openalex.org/W2166052572","https://openalex.org/W2234962923","https://openalex.org/W2302053044","https://openalex.org/W2489231587","https://openalex.org/W2491042601","https://openalex.org/W2560504659","https://openalex.org/W2573311857","https://openalex.org/W2604216058","https://openalex.org/W2618318883","https://openalex.org/W2731982447","https://openalex.org/W2735010720","https://openalex.org/W2737223130","https://openalex.org/W2807455070","https://openalex.org/W2890883362","https://openalex.org/W2892521964","https://openalex.org/W2905111361","https://openalex.org/W2913374098","https://openalex.org/W2952300048","https://openalex.org/W2963148914","https://openalex.org/W2963482581","https://openalex.org/W2963525569","https://openalex.org/W2963816519","https://openalex.org/W2964040381","https://openalex.org/W2964319688","https://openalex.org/W2966735560","https://openalex.org/W2970782456","https://openalex.org/W2972429904","https://openalex.org/W2972970124","https://openalex.org/W2973005513","https://openalex.org/W2979251496","https://openalex.org/W2982041656","https://openalex.org/W2996109218","https://openalex.org/W3004413882","https://openalex.org/W3011939380","https://openalex.org/W3012255490","https://openalex.org/W3015588742","https://openalex.org/W3098925401","https://openalex.org/W3104880332","https://openalex.org/W3110392270","https://openalex.org/W3119686839","https://openalex.org/W3131411499","https://openalex.org/W3144017734","https://openalex.org/W3148198191","https://openalex.org/W4211049957","https://openalex.org/W4288336312","https://openalex.org/W4294555834","https://openalex.org/W6689772469","https://openalex.org/W6697490744","https://openalex.org/W6737214707","https://openalex.org/W6738483526","https://openalex.org/W6740083460","https://openalex.org/W6757787546","https://openalex.org/W6763216130","https://openalex.org/W6768478896","https://openalex.org/W6769598862","https://openalex.org/W6771484861","https://openalex.org/W6773472046"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W1521672401","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2169866437","https://openalex.org/W1964286703"],"abstract_inverted_index":{"Robots":[0],"operating":[1],"in":[2,34,66,76,124],"real":[3,125],"world":[4],"settings":[5],"must":[6],"navigate":[7],"and":[8,17,47,99,154],"maintain":[9],"safety":[10,33,148],"while":[11],"interacting":[12],"with":[13,149],"many":[14],"heterogeneous":[15],"agents":[16,65],"obstacles.":[18],"Multi-Agent":[19],"Control":[20],"Barrier":[21],"Functions":[22],"(CBF)":[23],"have":[24],"emerged":[25],"as":[26],"a":[27,103,116,150],"computationally":[28],"efficient":[29],"tool":[30],"to":[31,86,156],"guarantee":[32],"multi-agent":[35,105,135],"environments,":[36],"but":[37],"they":[38],"assume":[39],"perfect":[40],"knowledge":[41,52],"of":[42,53,64,79],"both":[43],"the":[44,54,62,110,133],"robot":[45],"dynamics":[46,56],"other":[48,80],"agents'":[49,81],"dynamics.":[50,82],"While":[51],"robot's":[55],"might":[57],"be":[58,73,121],"reasonably":[59],"well":[60],"known,":[61],"heterogeneity":[63],"real-world":[67],"environments":[68],"means":[69],"there":[70],"will":[71],"always":[72],"considerable":[74],"uncertainty":[75],"our":[77,144],"prediction":[78],"This":[83],"work":[84],"aims":[85],"learn":[87],"high-confidence":[88],"bounds":[89],"for":[90],"these":[91],"dynamic":[92],"uncertainties":[93],"using":[94],"Matrix-Variate":[95],"Gaussian":[96],"Process":[97],"models,":[98],"incorporates":[100],"them":[101],"into":[102,115],"robust":[104,113,145],"CBF":[106,114,136],"framework.":[107],"We":[108,127],"transform":[109],"resulting":[111],"min-max":[112],"quadratic":[117],"program,":[118],"which":[119],"can":[120],"efficiently":[122],"solved":[123],"time.":[126],"verify":[128],"via":[129],"simulation":[130],"results":[131],"that":[132],"nominal":[134],"is":[137],"often":[138],"violated":[139],"during":[140],"agent":[141],"interactions,":[142],"whereas":[143],"formulation":[146],"maintains":[147],"much":[151],"higher":[152],"probability":[153],"adapts":[155],"learned":[157],"uncertainties.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
