{"id":"https://openalex.org/W3143034939","doi":"https://doi.org/10.1109/cdc45484.2021.9683085","title":"Robust Control Barrier\u2013Value Functions for Safety-Critical Control","display_name":"Robust Control Barrier\u2013Value Functions for Safety-Critical Control","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W3143034939","doi":"https://doi.org/10.1109/cdc45484.2021.9683085","mag":"3143034939"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683085","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":"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/A5003048470","display_name":"Jason J. Choi","orcid":"https://orcid.org/0000-0002-8223-6855"},"institutions":[{"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":"Jason J. Choi","raw_affiliation_strings":["University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075094704","display_name":"Donggun Lee","orcid":"https://orcid.org/0000-0003-4073-1353"},"institutions":[{"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":"Donggun Lee","raw_affiliation_strings":["University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"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":"Koushil Sreenath","raw_affiliation_strings":["University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"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":"Claire J. Tomlin","raw_affiliation_strings":["University of California, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071321544","display_name":"Sylvia Herbert","orcid":"https://orcid.org/0000-0002-3863-8945"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvia L. Herbert","raw_affiliation_strings":["University of California, San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, San Diego","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":35.9995,"has_fulltext":false,"cited_by_count":110,"citation_normalized_percentile":{"value":0.99919263,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6814","last_page":"6821"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9973999857902527,"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":0.9973999857902527,"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/T10142","display_name":"Formal Methods in Verification","score":0.9943000078201294,"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"}},{"id":"https://openalex.org/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9639000296592712,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.782864511013031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.600335955619812},{"id":"https://openalex.org/keywords/bellman-equation","display_name":"Bellman equation","score":0.5199155211448669},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5062422156333923},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4959586560726166},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.42240017652511597},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.41058987379074097},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3392803370952606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3107489347457886},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19688773155212402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09336492419242859}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.782864511013031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.600335955619812},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.5199155211448669},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5062422156333923},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4959586560726166},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.42240017652511597},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.41058987379074097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3392803370952606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3107489347457886},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19688773155212402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09336492419242859},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683085","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1487586009","https://openalex.org/W1550828720","https://openalex.org/W1582899597","https://openalex.org/W1593038947","https://openalex.org/W1972149633","https://openalex.org/W1975236902","https://openalex.org/W2018263821","https://openalex.org/W2038855137","https://openalex.org/W2090501324","https://openalex.org/W2111216640","https://openalex.org/W2113108728","https://openalex.org/W2116364955","https://openalex.org/W2560504659","https://openalex.org/W2587941786","https://openalex.org/W2588802774","https://openalex.org/W2798791976","https://openalex.org/W2887154784","https://openalex.org/W2889046694","https://openalex.org/W2899087494","https://openalex.org/W2951930445","https://openalex.org/W2963606896","https://openalex.org/W2964040381","https://openalex.org/W2966735560","https://openalex.org/W2969721933","https://openalex.org/W2996196387","https://openalex.org/W3010970209","https://openalex.org/W3011042361","https://openalex.org/W3098925401","https://openalex.org/W3106002372","https://openalex.org/W3131580247","https://openalex.org/W3135301889","https://openalex.org/W3137325140","https://openalex.org/W3186006973","https://openalex.org/W3206190169","https://openalex.org/W3207727352","https://openalex.org/W6633055989","https://openalex.org/W6772100842","https://openalex.org/W6790921541","https://openalex.org/W6791123270"],"related_works":["https://openalex.org/W4300463216","https://openalex.org/W1859185863","https://openalex.org/W2964126589","https://openalex.org/W4285537323","https://openalex.org/W4307691181","https://openalex.org/W3016225735","https://openalex.org/W2017412075","https://openalex.org/W1518875602","https://openalex.org/W2116748936","https://openalex.org/W174838355"],"abstract_inverted_index":{"This":[0,92],"paper":[1,93],"works":[2],"towards":[3],"unifying":[4],"two":[5,96],"popular":[6],"approaches":[7],"in":[8,60,157],"the":[9,39,61,71,106,133,138,145,165,176,180],"safety":[10,33,73,135],"control":[11,152,158,168],"community:":[12],"Hamilton-Jacobi":[13],"(HJ)":[14],"reachability":[15,102,140],"and":[16,35,131,159,184],"Control":[17,113],"Barrier":[18],"Functions":[19],"(CBFs).":[20],"HJ":[21],"Reachability":[22],"has":[23,55],"methods":[24,56,97],"for":[25,57,85,154,182],"direct":[26],"construction":[27],"of":[28,63,108,178],"value":[29],"functions":[30],"that":[31,119],"provide":[32],"guarantees":[34],"safe":[36],"controllers,":[37],"however":[38],"online":[40,151],"implementation":[41],"can":[42],"be":[43],"overly":[44],"conservative":[45],"and/or":[46],"rely":[47],"on":[48],"chattering":[49],"bang-bang":[50],"control.":[51],"The":[52],"CBF":[53,84],"community":[54],"safe-guarding":[58],"controllers":[59],"form":[62],"point-wise":[64],"optimization":[65],"using":[66,179],"quadratic":[67],"programs":[68],"(CBF-QP),":[69],"where":[70],"CBF-based":[72],"certificate":[74],"is":[75,90,121,163],"used":[76],"as":[77,137],"a":[78,82,86,100,112,122,126,149],"constraint.":[79],"However,":[80],"finding":[81],"valid":[83],"general":[87],"dynamical":[88],"system":[89],"challenging.":[91],"unifies":[94],"these":[95],"by":[98,105,144,188],"introducing":[99],"new":[101],"formulation":[103],"inspired":[104,143],"structure":[107],"CBFs":[109],"to":[110,125,171,191],"construct":[111],"Barrier-Value":[114],"Function":[115],"(CBVF).":[116],"We":[117,174],"verify":[118],"CBVF":[120],"viscosity":[123],"solution":[124,162],"novel":[127],"Hamilton-Jacobi-Isaacs":[128],"Variational":[129],"Inequality":[130],"preserves":[132],"same":[134],"guarantee":[136],"original":[139],"formulation.":[141],"Finally,":[142],"CBF-QP,":[146],"we":[147],"propose":[148],"QP-based":[150],"synthesis":[153],"systems":[155,187],"affine":[156],"disturbance,":[160],"whose":[161],"always":[164],"CBVF\u2019s":[166],"optimal":[167],"signal":[169],"robust":[170],"bounded":[172],"disturbance.":[173],"demonstrate":[175],"benefit":[177],"CBVFs":[181],"double-integrator":[183],"Dubins":[185],"car":[186],"comparing":[189],"it":[190],"previous":[192],"methods.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":7}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}