{"id":"https://openalex.org/W4391021850","doi":"https://doi.org/10.1109/cdc49753.2023.10383533","title":"Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function","display_name":"Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391021850","doi":"https://doi.org/10.1109/cdc49753.2023.10383533"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383533","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd 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/A5058748885","display_name":"Vin\u00edcius Mariano Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-9730-6190"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE","IN"],"is_corresponding":true,"raw_author_name":"Vinicius Mariano Gon\u00e7alves","raw_affiliation_strings":["New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054769060","display_name":"P. Krishnamurthy","orcid":"https://orcid.org/0000-0001-8264-7972"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["AE","IN","US"],"is_corresponding":false,"raw_author_name":"Prashanth Krishnamurthy","raw_affiliation_strings":["New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048765370","display_name":"Anthony Tzes","orcid":"https://orcid.org/0000-0003-3709-2810"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE","IN"],"is_corresponding":false,"raw_author_name":"Anthony Tzes","raw_affiliation_strings":["New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","Electrical Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates","Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Electrical Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082413942","display_name":"Farshad Khorrami","orcid":"https://orcid.org/0000-0002-8418-004X"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]},{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE","IN","US"],"is_corresponding":false,"raw_author_name":"Farshad Khorrami","raw_affiliation_strings":["New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058748885"],"corresponding_institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"],"apc_list":null,"apc_paid":null,"fwci":0.369,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62098538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"abs/1704.00805","issue":null,"first_page":"1770","last_page":"1775"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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":0.996999979019165,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9790999889373779,"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/spurious-relationship","display_name":"Spurious relationship","score":0.9128351211547852},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6678622364997864},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6532020568847656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5859334468841553},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5601969361305237},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5298076868057251},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5296016931533813},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.49410632252693176},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4469069838523865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4415286183357239},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4391346871852875},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.42158833146095276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20304235816001892},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08050531148910522}],"concepts":[{"id":"https://openalex.org/C97256817","wikidata":"https://www.wikidata.org/wiki/Q1462316","display_name":"Spurious relationship","level":2,"score":0.9128351211547852},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6678622364997864},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6532020568847656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5859334468841553},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5601969361305237},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5298076868057251},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5296016931533813},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.49410632252693176},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4469069838523865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4415286183357239},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4391346871852875},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.42158833146095276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20304235816001892},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08050531148910522},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383533","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1029150213","display_name":null,"funder_award_id":"CG010","funder_id":"https://openalex.org/F4320313203","funder_display_name":"New York University Abu Dhabi"}],"funders":[{"id":"https://openalex.org/F4320313203","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W606344609","https://openalex.org/W1816154721","https://openalex.org/W2109814287","https://openalex.org/W2110144538","https://openalex.org/W2330776804","https://openalex.org/W2606101940","https://openalex.org/W2875890672","https://openalex.org/W2892245034","https://openalex.org/W2921561174","https://openalex.org/W2968945909","https://openalex.org/W3011713702","https://openalex.org/W3035313359","https://openalex.org/W3046160353","https://openalex.org/W3147298213","https://openalex.org/W3204383275","https://openalex.org/W4210330528","https://openalex.org/W4212937462","https://openalex.org/W4283391004","https://openalex.org/W4306851371","https://openalex.org/W4315471867","https://openalex.org/W4315472275","https://openalex.org/W4315472378","https://openalex.org/W4315489117","https://openalex.org/W4366457166","https://openalex.org/W4382936004","https://openalex.org/W4384919581","https://openalex.org/W4385259170"],"related_works":["https://openalex.org/W3113091479","https://openalex.org/W2162899405","https://openalex.org/W941090075","https://openalex.org/W2020990755","https://openalex.org/W3036464408","https://openalex.org/W2377851227","https://openalex.org/W4293088966","https://openalex.org/W2366868484","https://openalex.org/W2917463375","https://openalex.org/W2155219672"],"abstract_inverted_index":{"Control":[0],"Barrier":[1],"Functions":[2],"and":[3,82],"Quadratic":[4],"Programming":[5],"are":[6],"increasingly":[7],"used":[8],"for":[9,105],"designing":[10],"controllers":[11],"that":[12],"consider":[13],"critical":[14],"safety":[15],"constraints.":[16],"However,":[17],"like":[18],"Artificial":[19],"Potential":[20],"Fields,":[21],"they":[22],"can":[23,33],"suffer":[24],"from":[25],"the":[26,36,41,58,63,79,96],"stable":[27],"spurious":[28,91],"equilibrium":[29],"point":[30],"problem,":[31],"which":[32],"result":[34],"in":[35,66],"controller":[37],"failing":[38],"to":[39,60],"reach":[40],"goal.":[42],"To":[43],"address":[44],"this":[45],"issue,":[46],"we":[47],"propose":[48],"introducing":[49],"circulation":[50],"inequalities":[51,56],"as":[52],"a":[53,75],"constraint.":[54],"These":[55],"force":[57],"system":[59],"explicitly":[61],"circulate":[62],"obstacle":[64],"region":[65],"configuration":[67],"space,":[68],"thus":[69],"avoiding":[70],"undesirable":[71],"equilibria.":[72],"We":[73],"conduct":[74],"theoretical":[76],"analysis":[77],"of":[78,98],"proposed":[80],"framework":[81],"demonstrate":[83],"its":[84],"efficacy":[85],"through":[86],"simulation":[87],"studies.":[88],"By":[89],"mitigating":[90],"equilibria,":[92],"our":[93],"approach":[94],"enhances":[95],"reliability":[97],"CBF-based":[99],"controllers,":[100],"making":[101],"them":[102],"more":[103],"suitable":[104],"real-world":[106],"applications.":[107]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
