{"id":"https://openalex.org/W4407950103","doi":"https://doi.org/10.1109/cdc56724.2024.10886205","title":"Learning Differentiable and Safe Multi-Robot Control for Generalization to Novel Environments using Control Barrier Functions","display_name":"Learning Differentiable and Safe Multi-Robot Control for Generalization to Novel Environments using Control Barrier Functions","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4407950103","doi":"https://doi.org/10.1109/cdc56724.2024.10886205"},"language":"en","primary_location":{"id":"doi:10.1109/cdc56724.2024.10886205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd 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/A5008208997","display_name":"Vivek Sharma","orcid":"https://orcid.org/0000-0002-1143-0298"},"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":"Vivek Sharma","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,Champaign IL,USA,61820"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,Champaign IL,USA,61820","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062267932","display_name":"Negar Mehr","orcid":"https://orcid.org/0000-0002-1045-4423"},"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":"Negar Mehr","raw_affiliation_strings":["University of California Berkeley,Department of Mechanical Engineering,Berkeley CA,USA,94720-1740"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley,Department of Mechanical Engineering,Berkeley CA,USA,94720-1740","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","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 Urbana-Champaign,Department of Mechanical Science and Engineering,Champaign IL,USA,61820"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,Champaign IL,USA,61820","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.47287476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8423","last_page":"8428"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9822999835014343,"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":0.9822999835014343,"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/T10320","display_name":"Neural Networks and Applications","score":0.9004999995231628,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/generalization","display_name":"Generalization","score":0.7620627880096436},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6876137852668762},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5891100764274597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5862924456596375},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5713906288146973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.554344654083252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42055612802505493},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4010356664657593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3630084991455078},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3459938168525696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2034253478050232},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1651265025138855},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.08443388342857361},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06055620312690735}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7620627880096436},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6876137852668762},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5891100764274597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5862924456596375},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5713906288146973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.554344654083252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42055612802505493},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4010356664657593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3630084991455078},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3459938168525696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2034253478050232},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1651265025138855},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.08443388342857361},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06055620312690735}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc56724.2024.10886205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd 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"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1986164962","https://openalex.org/W2116341502","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2799899844","https://openalex.org/W2918383326","https://openalex.org/W2968945909","https://openalex.org/W2970146327","https://openalex.org/W3003907021","https://openalex.org/W3120726845","https://openalex.org/W3130631955","https://openalex.org/W3131411499","https://openalex.org/W3152893301","https://openalex.org/W3209562766","https://openalex.org/W4205451316","https://openalex.org/W4205626291","https://openalex.org/W4221153097","https://openalex.org/W4315606134","https://openalex.org/W4352977012","https://openalex.org/W4385565748","https://openalex.org/W4391549657","https://openalex.org/W4393063154","https://openalex.org/W6753516098","https://openalex.org/W6767977373","https://openalex.org/W6772100842","https://openalex.org/W6788898170","https://openalex.org/W6802255383","https://openalex.org/W6858475185"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"Ensuring":[0],"safety":[1,92],"in":[2,120,171,186],"the":[3,15,63,78,118,147,169,180],"navigation":[4],"of":[5,17,77,132,149,182],"multi-robot":[6,82],"systems":[7,49,83],"using":[8,84,97,162],"control":[9,96,98,138,155,192],"barrier":[10,99],"functions":[11,33,80,100,135,161],"has":[12],"traditionally":[13],"involved":[14],"utilization":[16],"a":[18,26,75,85,142],"pre-tuned":[19,31],"class-":[20,64,104],"$\\mathcal{K}$":[21,65,105],"function":[22,66],"specifically":[23],"tailored":[24],"to":[25,35,37,70,125,197],"given":[27],"environment.":[28],"However,":[29],"these":[30,45],"class$\\mathcal{K}$":[32,79],"struggle":[34],"generalize":[36],"different":[38],"environments.":[39,72,199],"In":[40],"this":[41,102],"work,":[42],"we":[43,140],"address":[44],"challenges":[46],"for":[47,81,152],"control-affine":[48],"with":[50,110,158],"actuation":[51],"constraints.":[52],"Our":[53],"key":[54],"insight":[55],"is":[56,108],"that":[57],"incorporating":[58],"environment-specific":[59],"information":[60,113,115,164,166],"implicitly":[61],"into":[62],"can":[67],"enhance":[68],"generalization":[69],"unseen":[71],"We":[73,90,175],"introduce":[74],"parameterization":[76],"Graph":[86],"Neural":[87],"Network":[88],"(GNN).":[89],"formulate":[91],"conditions":[93],"and":[94,114,136,165,189],"safe":[95,154,191],"utilizing":[101],"GNN-based":[103],"function,":[106],"which":[107,194],"optimized":[109],"both":[111],"environmental":[112],"perceived":[116,167],"by":[117,168],"robot":[119,170],"its":[121,172],"local":[122,173],"neighborhood":[123],"leading":[124],"decentralized":[126,137],"execution.":[127],"To":[128],"enable":[129],"end-to-end":[130],"learning":[131],"class":[133,159],"$-\\mathcal{K}$":[134,160],"policy,":[139],"employ":[141],"differentiable":[143],"optimization":[144,150],"layer,":[145],"facilitating":[146],"embedding":[148],"problem":[151],"computing":[153],"policies":[156,193],"jointly":[157],"environment":[163],"neighborhood.":[174],"show":[176],"through":[177],"simulation":[178],"results":[179],"effectiveness":[181],"our":[183],"proposed":[184],"method":[185],"generating":[187],"scalable":[188],"generalizable":[190],"are":[195],"adaptable":[196],"novel":[198]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}