{"id":"https://openalex.org/W4210809301","doi":"https://doi.org/10.1109/cdc45484.2021.9682961","title":"A Barrier Pair Method for Safe Human-Robot Shared Autonomy","display_name":"A Barrier Pair Method for Safe Human-Robot Shared Autonomy","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210809301","doi":"https://doi.org/10.1109/cdc45484.2021.9682961"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9682961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9682961","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th 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/A5034900394","display_name":"Binghan He","orcid":"https://orcid.org/0000-0002-6598-9070"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Binghan He","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101793459","display_name":"Mahsa Ghasemi","orcid":"https://orcid.org/0000-0003-4302-4806"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahsa Ghasemi","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068441112","display_name":"Ufuk Topcu","orcid":"https://orcid.org/0000-0003-0819-9985"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ufuk Topcu","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Mechanical Engineering (B.H.), the Department of Electrical and Computer Engineering (M.G.) and the Department of Aerospace Engineering and Engineering Mechanics (U.T., L.S.),Austin,TX","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034900394"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.4363,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54100652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2854","last_page":"2861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9962000250816345,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10142","display_name":"Formal Methods in Verification","score":0.9805999994277954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.771222710609436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5852895975112915},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5785202383995056},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5148212313652039},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5120552182197571},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.509271502494812},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38223785161972046},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3612309694290161},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34286758303642273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33617526292800903},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2554258108139038}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.771222710609436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5852895975112915},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5785202383995056},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5148212313652039},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5120552182197571},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.509271502494812},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38223785161972046},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3612309694290161},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34286758303642273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33617526292800903},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2554258108139038},{"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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc45484.2021.9682961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9682961","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W28635149","https://openalex.org/W1607353007","https://openalex.org/W2008359193","https://openalex.org/W2062373349","https://openalex.org/W2081814343","https://openalex.org/W2128990851","https://openalex.org/W2489231587","https://openalex.org/W2492490179","https://openalex.org/W2560504659","https://openalex.org/W2767734520","https://openalex.org/W2788806396","https://openalex.org/W2846034702","https://openalex.org/W2892388197","https://openalex.org/W2963507484","https://openalex.org/W3024855617","https://openalex.org/W3027820740","https://openalex.org/W3102561674","https://openalex.org/W3103131986","https://openalex.org/W3120657599","https://openalex.org/W3210839039","https://openalex.org/W4297790214","https://openalex.org/W6721805750","https://openalex.org/W6746136750","https://openalex.org/W6778026261"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W2741909783","https://openalex.org/W4210919297","https://openalex.org/W1532677580"],"abstract_inverted_index":{"Shared":[0],"autonomy":[1,37,85],"provides":[2],"a":[3,6,14,32,60,91,133,146,150,200,203],"framework":[4,178,198],"where":[5],"human":[7,42,57,104,111,173,185],"and":[8,47,117,149],"an":[9,22],"automated":[10],"system,":[11],"such":[12],"as":[13],"robot,":[15,68],"jointly":[16],"control":[17,93,177,197],"the":[18,41,51,56,67,72,80,96,101,110,113,119,128,153,159,169,172,180,184,195],"system\u2019s":[19],"behavior,":[20],"enabling":[21],"effective":[23],"solution":[24],"for":[25],"various":[26],"applications,":[27],"including":[28],"human-robot":[29],"interaction.":[30],"However,":[31],"challenging":[33],"problem":[34],"in":[35,86,155],"shared":[36,84],"is":[38,59,161],"safety":[39,53,81,121,191],"because":[40],"input":[43,58,105],"may":[44],"be":[45],"unknown":[46],"unpredictable,":[48],"which":[49],"affects":[50],"robot\u2019s":[52,73,120],"constraints.":[54],"If":[55],"force":[61],"applied":[62],"through":[63],"physical":[64],"contact":[65],"with":[66,140],"it":[69],"also":[70],"alters":[71],"behavior":[74],"to":[75,107,115,124,163,182],"maintain":[76,164],"safety.":[77],"We":[78,193],"address":[79],"issue":[82],"of":[83,103,137,145,202],"real-time":[87],"applications":[88],"by":[89],"proposing":[90],"two-layer":[92],"framework.":[94],"In":[95,127],"first":[97],"layer,":[98,130],"we":[99,131],"use":[100],"history":[102],"measurements":[106],"infer":[108],"what":[109],"wants":[112],"robot":[114,160,181],"do":[116],"define":[118],"constraints":[122],"according":[123],"that":[125],"inference.":[126],"second":[129],"formulate":[132],"rapidly-exploring":[134],"random":[135],"tree":[136],"barrier":[138,142,147,157],"pairs,":[139,158],"each":[141],"pair":[143],"composed":[144],"function":[148],"controller.":[151],"Using":[152],"controllers":[154],"these":[156],"able":[162],"its":[165],"safe":[166],"operation":[167],"under":[168],"intervention":[170],"from":[171,189],"input.":[174],"This":[175],"proposed":[176,196],"allows":[179],"assist":[183],"while":[186],"preventing":[187],"them":[188],"encountering":[190],"issues.":[192],"demonstrate":[194],"on":[199],"simulation":[201],"two-linkage":[204],"manipulator":[205],"robot.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}