{"id":"https://openalex.org/W4391020604","doi":"https://doi.org/10.1109/cdc49753.2023.10383564","title":"Construction of Control Barrier Functions Using Predictions with Finite Horizon","display_name":"Construction of Control Barrier Functions Using Predictions with Finite Horizon","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391020604","doi":"https://doi.org/10.1109/cdc49753.2023.10383564"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383564","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":true,"oa_status":"green","oa_url":"https://kth.diva-portal.org/smash/get/diva2:1839943/FULLTEXT01","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045954668","display_name":"Adrian Wiltz","orcid":null},"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":"Adrian Wiltz","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","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":false,"raw_author_name":"Xiao Tan","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044","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":["KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045954668"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.488,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82960038,"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":"2743","last_page":"2749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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":1.0,"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/T10932","display_name":"Microbial Metabolic Engineering and Bioproduction","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.8560619354248047},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.827774167060852},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.7415515780448914},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5826232433319092},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5520541667938232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5230451822280884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47316083312034607},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.44425418972969055},{"id":"https://openalex.org/keywords/lti-system-theory","display_name":"LTI system theory","score":0.4120975732803345},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41012606024742126},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37702399492263794},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3586958944797516},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33091723918914795},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25951120257377625},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17182904481887817},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.17007088661193848},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16857579350471497}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8560619354248047},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.827774167060852},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.7415515780448914},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5826232433319092},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5520541667938232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5230451822280884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47316083312034607},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.44425418972969055},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.4120975732803345},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41012606024742126},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37702399492263794},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3586958944797516},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33091723918914795},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25951120257377625},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17182904481887817},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.17007088661193848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16857579350471497},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383564","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"},{"id":"pmh:oai:DiVA.org:kth-343748","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-343748","pdf_url":"https://kth.diva-portal.org/smash/get/diva2:1839943/FULLTEXT01","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:DiVA.org:kth-343748","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-343748","pdf_url":"https://kth.diva-portal.org/smash/get/diva2:1839943/FULLTEXT01","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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391020604.pdf","grobid_xml":"https://content.openalex.org/works/W4391020604.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1972149633","https://openalex.org/W1985578018","https://openalex.org/W1988538197","https://openalex.org/W2030723843","https://openalex.org/W2041076275","https://openalex.org/W2104034461","https://openalex.org/W2140531311","https://openalex.org/W2140998418","https://openalex.org/W2525042068","https://openalex.org/W2842089854","https://openalex.org/W2899087494","https://openalex.org/W2914264703","https://openalex.org/W2968945909","https://openalex.org/W2992833799","https://openalex.org/W3143034939","https://openalex.org/W3164515101","https://openalex.org/W4206827621","https://openalex.org/W4210279164","https://openalex.org/W4226242368","https://openalex.org/W4231039456","https://openalex.org/W4293078920","https://openalex.org/W4314946893","https://openalex.org/W4388903135","https://openalex.org/W4391020604"],"related_works":["https://openalex.org/W1546657425","https://openalex.org/W2119819375","https://openalex.org/W2165042063","https://openalex.org/W2049683971","https://openalex.org/W2133037188","https://openalex.org/W2084947282","https://openalex.org/W2153544183","https://openalex.org/W72451598","https://openalex.org/W2003019938","https://openalex.org/W1990421243"],"abstract_inverted_index":{"In":[0,112],"this":[1],"paper,":[2],"we":[3,30,98,115,130],"show":[4,52],"that":[5],"under":[6,83],"mild":[7],"controllability":[8],"assumptions":[9],"a":[10,23,27,33,37,69,76,88,126],"time-invariant":[11,77,81],"Control":[12,123],"Barrier":[13],"Function":[14],"(CBF)":[15],"can":[16],"be":[17,48],"constructed":[18,96],"based":[19,54],"on":[20,55,65,108],"predictions":[21],"with":[22],"finite":[24],"horizon.":[25],"As":[26],"starting":[28],"point,":[29],"require":[31],"only":[32],"known":[34],"subset":[35,67],"of":[36,68,91,94,102],"control-invariant":[38,70],"set":[39,43,71],"where":[40],"the":[41,59,63,66,80,92,95,100,103,109,113],"latter":[42],"does":[44],"not":[45],"need":[46],"to":[47,58,74,120],"explicitly":[49],"known.":[50],"We":[51,85],"that,":[53],"ideas":[56],"similar":[57],"Hamilton-Jacobi":[60],"reachability":[61],"analysis,":[62],"knowledge":[64],"allows":[72],"us":[73],"obtain":[75],"CBF":[78],"for":[79],"dynamics":[82],"consideration.":[84],"also":[86],"provide":[87],"thorough":[89],"analysis":[90],"properties":[93],"CBF,":[97],"characterize":[99],"impact":[101],"prediction":[104],"horizon,":[105],"and":[106],"comment":[107],"practical":[110],"implementation.":[111],"end,":[114],"relate":[116],"our":[117,133],"construction":[118],"approach":[119],"Model":[121],"Predictive":[122],"(MPC).":[124],"With":[125],"relevant":[127],"application":[128],"example,":[129],"demonstrate":[131],"how":[132],"method":[134],"is":[135],"applied.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}