{"id":"https://openalex.org/W4315472287","doi":"https://doi.org/10.1109/cdc51059.2022.9992322","title":"Safe trajectory tracking using closed-form controllers based on control barrier functions","display_name":"Safe trajectory tracking using closed-form controllers based on control barrier functions","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315472287","doi":"https://doi.org/10.1109/cdc51059.2022.9992322"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992322","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://iris.uniroma1.it/bitstream/11573/1669100/1/Cristofaro_postprint_Safe-trajectory-tracking_2022.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011482531","display_name":"Andrea Cristofaro","orcid":"https://orcid.org/0000-0002-0757-2912"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Cristofaro","raw_affiliation_strings":["Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy,00185"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy,00185","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074565525","display_name":"Marco Ferro","orcid":"https://orcid.org/0000-0002-7057-9252"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ferro","raw_affiliation_strings":["Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy,00185"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy,00185","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040398924","display_name":"Marilena Vendittelli","orcid":"https://orcid.org/0000-0002-5348-0525"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marilena Vendittelli","raw_affiliation_strings":["Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy,00185"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome,Department of Computer, Control and Management Engineering,Rome,Italy,00185","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":1.3273,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81022906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3329","last_page":"3334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8367712497711182},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7763374447822571},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7532441020011902},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5843114852905273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.573556661605835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5574625730514526},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.545860230922699},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5398567914962769},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5306153893470764},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5265605449676514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4957183599472046},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.4635635316371918},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41515353322029114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2878778874874115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26983189582824707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25734472274780273},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18535879254341125}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8367712497711182},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7763374447822571},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7532441020011902},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5843114852905273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.573556661605835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5574625730514526},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.545860230922699},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5398567914962769},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5306153893470764},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5265605449676514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4957183599472046},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.4635635316371918},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41515353322029114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2878778874874115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26983189582824707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25734472274780273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18535879254341125},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9992322","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st 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":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1669100","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1669100","pdf_url":"https://iris.uniroma1.it/bitstream/11573/1669100/1/Cristofaro_postprint_Safe-trajectory-tracking_2022.pdf","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1669100","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1669100","pdf_url":"https://iris.uniroma1.it/bitstream/11573/1669100/1/Cristofaro_postprint_Safe-trajectory-tracking_2022.pdf","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4315472287.pdf","grobid_xml":"https://content.openalex.org/works/W4315472287.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W86892992","https://openalex.org/W1964342070","https://openalex.org/W1967394491","https://openalex.org/W2122561468","https://openalex.org/W2129116947","https://openalex.org/W2489231587","https://openalex.org/W2591921113","https://openalex.org/W2968945909","https://openalex.org/W3011888914","https://openalex.org/W3035313359","https://openalex.org/W3045806561","https://openalex.org/W3199311036","https://openalex.org/W6603582964"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,41,46,55,74,79,97,105,108,115,119,126],"problem":[4,63],"of":[5,8,15,57,76,84,107,128,139],"guaranteeing":[6],"avoidance":[7,75],"critical":[9,33,59,120],"state":[10,86],"space":[11,87],"regions":[12,34,99],"during":[13,35,40,82],"tracking":[14,37,83,109],"reference":[16,47,69,85],"trajectories":[17],"for":[18],"systems":[19],"with":[20,136],"dynamics":[21],"equivalent":[22],"to":[23,30,117,147],"r-th":[24],"order":[25],"decoupled":[26],"integrators.":[27],"The":[28,89,122],"necessity":[29],"avoid":[31],"those":[32,58],"trajectory":[36,48],"may":[38],"arise":[39],"transient":[42],"phase":[43],"or":[44],"because":[45],"was":[49],"planned":[50],"without":[51],"taking":[52],"into":[53],"account":[54],"presence":[56],"regions.":[60],"A":[61],"typical":[62],"in":[64,70,78],"mobile":[65,149],"robotics,":[66],"taken":[67],"as":[68],"this":[71],"paper,":[72],"is":[73,153],"obstacles":[77],"robot":[80],"workspace":[81],"trajectories.":[88],"proposed":[90],"controller":[91],"ensures":[92],"a":[93],"safety":[94,140],"clearance":[95],"from":[96],"forbidden":[98],"by":[100],"filtering":[101],"out,":[102],"when":[103],"appropriate,":[104],"component":[106],"command":[110],"that":[111],"would":[112],"eventually":[113],"lead":[114],"system":[116],"enter":[118],"region.":[121],"method":[123],"relies":[124],"on":[125],"construction":[127],"first-order":[129],"control":[130],"barrier":[131],"functions":[132],"and":[133,141,143,151],"closed-form":[134],"controllers,":[135],"formal":[137],"proof":[138],"stability,":[142],"its":[144],"effective":[145],"application":[146],"wheeled":[148],"robots":[150],"quadrotors":[152],"demonstrated":[154],"through":[155],"simulation.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}