{"id":"https://openalex.org/W1508779685","doi":"https://doi.org/10.1109/icra.2015.7139020","title":"Safety control of robots under Computed Torque control using reachable sets","display_name":"Safety control of robots under Computed Torque control using reachable sets","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1508779685","doi":"https://doi.org/10.1109/icra.2015.7139020","mag":"1508779685"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5045503600","display_name":"Aaron Pereira","orcid":"https://orcid.org/0000-0003-3797-2981"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Aaron Pereira","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Department of Computer Science; Technische Universit\u00e4t M\u00fcnchen; 85748 Garching Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Computer Science; Technische Universit\u00e4t M\u00fcnchen; 85748 Garching Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Department of Computer Science; Technische Universit\u00e4t M\u00fcnchen; 85748 Garching Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Computer Science; Technische Universit\u00e4t M\u00fcnchen; 85748 Garching Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045503600"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":5.9588,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.96629102,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"331","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T11697","display_name":"Numerical Methods and Algorithms","score":0.9921000003814697,"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/precomputation","display_name":"Precomputation","score":0.7357009649276733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7062747478485107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6569207310676575},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6326674222946167},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6073441505432129},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5216993689537048},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.5212353467941284},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4928925037384033},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.44952479004859924},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4483562111854553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44161444902420044},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.44010990858078003},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4374130070209503},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42631274461746216},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42485958337783813},{"id":"https://openalex.org/keywords/interval-arithmetic","display_name":"Interval arithmetic","score":0.4197157621383667},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4103233218193054},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3378332257270813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3147134780883789},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21450111269950867},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16919288039207458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15737342834472656},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15123417973518372}],"concepts":[{"id":"https://openalex.org/C159379195","wikidata":"https://www.wikidata.org/wiki/Q7239568","display_name":"Precomputation","level":3,"score":0.7357009649276733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7062747478485107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6569207310676575},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6326674222946167},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6073441505432129},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5216993689537048},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.5212353467941284},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4928925037384033},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.44952479004859924},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4483562111854553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44161444902420044},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.44010990858078003},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4374130070209503},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42631274461746216},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42485958337783813},{"id":"https://openalex.org/C191252586","wikidata":"https://www.wikidata.org/wiki/Q1671453","display_name":"Interval arithmetic","level":3,"score":0.4197157621383667},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4103233218193054},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3378332257270813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3147134780883789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21450111269950867},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16919288039207458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15737342834472656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15123417973518372},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","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/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W178772886","https://openalex.org/W190548898","https://openalex.org/W1521528529","https://openalex.org/W1964636164","https://openalex.org/W1999016870","https://openalex.org/W2000790002","https://openalex.org/W2021667711","https://openalex.org/W2039438648","https://openalex.org/W2066202893","https://openalex.org/W2083725845","https://openalex.org/W2090482009","https://openalex.org/W2107712101","https://openalex.org/W2110667948","https://openalex.org/W2113811050","https://openalex.org/W2116113712","https://openalex.org/W2150024155","https://openalex.org/W2151802336","https://openalex.org/W2158223566","https://openalex.org/W2329811151","https://openalex.org/W2483775066","https://openalex.org/W4238990946","https://openalex.org/W4240790602","https://openalex.org/W4252031641","https://openalex.org/W4298255709","https://openalex.org/W6683433598"],"related_works":["https://openalex.org/W126258643","https://openalex.org/W2157769033","https://openalex.org/W2096978683","https://openalex.org/W414359703","https://openalex.org/W2687399516","https://openalex.org/W2543067032","https://openalex.org/W2952364160","https://openalex.org/W2048576502","https://openalex.org/W2158938020","https://openalex.org/W2151627114"],"abstract_inverted_index":{"A":[0],"failsafe":[1],"control":[2],"strategy":[3],"is":[4,112,122],"presented":[5],"for":[6],"online":[7],"safety":[8,41],"certification":[9],"of":[10,30,44,61,69,76,81,88],"robot":[11,32],"movements":[12],"in":[13,47,114],"a":[14,31,35,45,115],"collaborative":[15],"workspace":[16],"with":[17],"humans.":[18],"This":[19],"approach":[20,111],"plans,":[21],"predicts":[22],"and":[23,34,42,79,99,107],"uses":[24],"formal":[25],"guarantees":[26],"on":[27],"reachable":[28,89],"sets":[29,90],"arm":[33],"human":[36],"obstacle":[37],"to":[38,96,102,117],"verify":[39],"the":[40,66],"feasibility":[43],"trajectory":[46],"real":[48,120],"time.":[49],"The":[50,110],"robots":[51,56],"considered":[52],"are":[53,100],"serial":[54],"link":[55],"under":[57],"Computed":[58],"Torque":[59],"schemes":[60],"control.":[62],"We":[63],"drastically":[64],"reduce":[65],"computation":[67],"time":[68,121],"our":[70],"novel":[71],"verification":[72],"procedure":[73],"through":[74],"precomputation":[75],"non-linear":[77],"terms":[78],"use":[80],"interval":[82],"arithmetic,":[83],"as":[84,86],"well":[85],"representation":[87],"by":[91],"zonotopes,":[92],"which":[93],"scale":[94],"easily":[95],"high":[97],"dimensions":[98],"easy":[101],"convert":[103],"between":[104],"joint":[105],"space":[106],"Cartesian":[108],"space.":[109],"implemented":[113],"simulation,":[116],"show":[118],"that":[119],"computationally":[123],"within":[124],"reach.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}