{"id":"https://openalex.org/W4314946929","doi":"https://doi.org/10.1109/cdc51059.2022.9993190","title":"Path Integral Methods with Stochastic Control Barrier Functions","display_name":"Path Integral Methods with Stochastic Control Barrier Functions","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4314946929","doi":"https://doi.org/10.1109/cdc51059.2022.9993190"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9993190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993190","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":"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/A5091656750","display_name":"Chuyuan Tao","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chuyuan Tao","raw_affiliation_strings":["University of Illinois at UrbanaChampaign,Department of Mechanical Science and Engineering,USA","Department of Mechanical Science and Engineering, University of Illinois at UrbanaChampaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at UrbanaChampaign,Department of Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at UrbanaChampaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080473137","display_name":"Hyung\u2010Jin Yoon","orcid":"https://orcid.org/0000-0003-4432-4894"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyung-Jin Yoon","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Reno,USA","Department of Mechanical Engineering, University of Nevada, Reno, USA"],"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Reno,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101481233","display_name":"Hunmin Kim","orcid":"https://orcid.org/0000-0002-9545-7972"},"institutions":[{"id":"https://openalex.org/I2801518522","display_name":"Mercer University Health Sciences Center","ror":"https://ror.org/01g67by91","country_code":"US","type":"education","lineage":["https://openalex.org/I2801518522"]},{"id":"https://openalex.org/I150149174","display_name":"Mercer University","ror":"https://ror.org/04bk7v425","country_code":"US","type":"education","lineage":["https://openalex.org/I150149174"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hunmin Kim","raw_affiliation_strings":["Mercer University,Department of Electrical and Computer Engineering,USA","Department of Electrical and Computer Engineering, Mercer University, USA"],"affiliations":[{"raw_affiliation_string":"Mercer University,Department of Electrical and Computer Engineering,USA","institution_ids":["https://openalex.org/I150149174","https://openalex.org/I2801518522"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Mercer University, USA","institution_ids":["https://openalex.org/I150149174","https://openalex.org/I2801518522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029998748","display_name":"Naira Hovakimyan","orcid":"https://orcid.org/0000-0003-3850-1073"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naira Hovakimyan","raw_affiliation_strings":["University of Illinois at UrbanaChampaign,Department of Mechanical Science and Engineering,USA","Department of Mechanical Science and Engineering, University of Illinois at UrbanaChampaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at UrbanaChampaign,Department of Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at UrbanaChampaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089726422","display_name":"Petros G. Voulgaris","orcid":"https://orcid.org/0000-0002-2965-3246"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Petros Voulgaris","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Reno,USA","Department of Mechanical Engineering, University of Nevada, Reno, USA"],"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Reno,USA","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Nevada, Reno, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091656750"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":4.9547,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.97401416,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1654","last_page":"1659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9987999796867371,"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/T11236","display_name":"Control Systems and Identification","score":0.996399998664856,"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/mathematical-optimization","display_name":"Mathematical optimization","score":0.6507458090782166},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5544930696487427},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5439375638961792},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.540148913860321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5363807082176208},{"id":"https://openalex.org/keywords/stochastic-control","display_name":"Stochastic control","score":0.5317503213882446},{"id":"https://openalex.org/keywords/stochastic-differential-equation","display_name":"Stochastic differential equation","score":0.5303951501846313},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5064095258712769},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4687846899032593},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4295906126499176},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.429043173789978},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36034199595451355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3405676484107971},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3264775574207306},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1101195216178894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10440540313720703}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6507458090782166},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5544930696487427},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5439375638961792},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.540148913860321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5363807082176208},{"id":"https://openalex.org/C170131372","wikidata":"https://www.wikidata.org/wiki/Q7617811","display_name":"Stochastic control","level":3,"score":0.5317503213882446},{"id":"https://openalex.org/C51955184","wikidata":"https://www.wikidata.org/wiki/Q1545585","display_name":"Stochastic differential equation","level":2,"score":0.5303951501846313},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5064095258712769},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4687846899032593},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4295906126499176},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.429043173789978},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36034199595451355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3405676484107971},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3264775574207306},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1101195216178894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10440540313720703},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9993190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc51059.2022.9993190","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1503185336","https://openalex.org/W1532859487","https://openalex.org/W1594682877","https://openalex.org/W1607353007","https://openalex.org/W1608758704","https://openalex.org/W1993200481","https://openalex.org/W2073378277","https://openalex.org/W2410617946","https://openalex.org/W2738778707","https://openalex.org/W2963238245","https://openalex.org/W2967905384","https://openalex.org/W2968945909","https://openalex.org/W2977676795","https://openalex.org/W3005581722","https://openalex.org/W3119915811","https://openalex.org/W3131518230","https://openalex.org/W3155061166","https://openalex.org/W3157184134","https://openalex.org/W3157509697","https://openalex.org/W3163376802","https://openalex.org/W3213530861","https://openalex.org/W4294692006","https://openalex.org/W4314946929","https://openalex.org/W6640290305","https://openalex.org/W6648531073"],"related_works":["https://openalex.org/W1519058190","https://openalex.org/W2943897807","https://openalex.org/W2037660981","https://openalex.org/W4366198066","https://openalex.org/W3120484221","https://openalex.org/W2142934230","https://openalex.org/W3047748938","https://openalex.org/W2358522863","https://openalex.org/W4386034604","https://openalex.org/W3112430022"],"abstract_inverted_index":{"Safe":[0],"control":[1,16,39,59,72,83,87],"designs":[2],"for":[3,92],"robotic":[4],"systems":[5,94],"remain":[6],"challenging":[7],"because":[8,95],"of":[9,12,76,101],"the":[10,58,64,99,102,122,150],"difficulties":[11],"explicitly":[13],"solving":[14],"optimal":[15,82],"with":[17,135],"nonlinear":[18,93,103],"dynamics":[19],"perturbed":[20],"by":[21,155],"stochastic":[22,77,137],"noise.":[23],"However,":[24],"recent":[25],"technological":[26],"advances":[27],"in":[28,63,121,127],"computing":[29],"devices":[30],"enable":[31],"online":[32],"optimization":[33,54],"or":[34],"sampling-based":[35,123],"methods":[36],"to":[37,50,61,80,117],"solve":[38,52,81],"problems.":[40],"For":[41],"example,":[42],"Control":[43,112],"Barrier":[44,113],"Functions":[45,114],"(CBFs)":[46],"have":[47],"been":[48],"proposed":[49],"numerically":[51],"convex":[53],"problems":[55,84],"that":[56,143],"ensure":[57],"input":[60],"stay":[62],"safe":[65],"set.":[66],"Model":[67],"Predictive":[68],"Path":[69],"Integral":[70],"(MPPI)":[71],"uses":[73],"forward":[74],"sampling":[75,158],"differential":[78,138],"equations":[79],"online.":[85],"Both":[86],"algorithms":[88],"are":[89],"widely":[90],"used":[91],"they":[96],"avoid":[97],"calculating":[98],"derivatives":[100],"dynamic":[104],"functions.":[105],"In":[106],"this":[107],"paper,":[108],"we":[109],"use":[110],"Stochastic":[111],"(SCBFs)":[115],"constraints":[116],"limit":[118],"sample":[119,133],"regions":[120],"algorithm,":[124],"ensuring":[125],"safety":[126],"a":[128,136,157],"probabilistic":[129],"sense":[130],"and":[131],"improving":[132],"efficiency":[134],"equation.":[139],"We":[140],"also":[141],"show":[142],"our":[144],"algorithm":[145,153],"needs":[146],"fewer":[147],"samples":[148],"than":[149],"original":[151],"MPPI":[152],"does":[154],"providing":[156],"complexity":[159],"analysis.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
