{"id":"https://openalex.org/W2979251496","doi":"https://doi.org/10.1109/icra40945.2020.9196709","title":"Bayesian Learning-Based Adaptive Control for Safety Critical Systems","display_name":"Bayesian Learning-Based Adaptive Control for Safety Critical Systems","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2979251496","doi":"https://doi.org/10.1109/icra40945.2020.9196709","mag":"2979251496"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.02325","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101809215","display_name":"David D. Fan","orcid":"https://orcid.org/0000-0002-8261-1045"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David D. Fan","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070832856","display_name":"Jennifer Nguyen","orcid":"https://orcid.org/0000-0001-6988-9555"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennifer Nguyen","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113893653","display_name":"Rohan Thakker","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Thakker","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016454035","display_name":"Nikhilesh Alatur","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhilesh Alatur","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044505993","display_name":"Evangelos A. Theodorou","orcid":"https://orcid.org/0000-0002-0834-5738"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos A. Theodorou","raw_affiliation_strings":["Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101809215"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":9.10529201,"has_fulltext":false,"cited_by_count":84,"citation_normalized_percentile":{"value":0.98033351,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4093","last_page":"4099"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9889000058174133,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9876000285148621,"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/computer-science","display_name":"Computer science","score":0.6910487413406372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5837090611457825},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5217148661613464},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5177632570266724},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.48661598563194275},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.47607842087745667},{"id":"https://openalex.org/keywords/bayesian-network","display_name":"Bayesian network","score":0.4529713988304138},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44449201226234436},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.42056241631507874},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34982943534851074},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3204600512981415},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20967108011245728}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6910487413406372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5837090611457825},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5217148661613464},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5177632570266724},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48661598563194275},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.47607842087745667},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.4529713988304138},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44449201226234436},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.42056241631507874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34982943534851074},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3204600512981415},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20967108011245728},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9196709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.02325","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.02325","pdf_url":"https://arxiv.org/pdf/1910.02325","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.02325","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.02325","pdf_url":"https://arxiv.org/pdf/1910.02325","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1487365480","https://openalex.org/W1579485993","https://openalex.org/W1931877416","https://openalex.org/W1967090526","https://openalex.org/W2085330455","https://openalex.org/W2091230023","https://openalex.org/W2132397872","https://openalex.org/W2156045111","https://openalex.org/W2171879251","https://openalex.org/W2192203593","https://openalex.org/W2283492721","https://openalex.org/W2396317032","https://openalex.org/W2488247662","https://openalex.org/W2489231587","https://openalex.org/W2490989795","https://openalex.org/W2528305538","https://openalex.org/W2560504659","https://openalex.org/W2618318883","https://openalex.org/W2742077738","https://openalex.org/W2766447205","https://openalex.org/W2769646558","https://openalex.org/W2798791976","https://openalex.org/W2883576090","https://openalex.org/W2884298516","https://openalex.org/W2887128207","https://openalex.org/W2897773424","https://openalex.org/W2901136733","https://openalex.org/W2901402208","https://openalex.org/W2912026107","https://openalex.org/W2913878882","https://openalex.org/W2922275330","https://openalex.org/W2948977392","https://openalex.org/W2949368738","https://openalex.org/W2952390384","https://openalex.org/W2962957031","https://openalex.org/W2963190023","https://openalex.org/W2963238245","https://openalex.org/W2963778105","https://openalex.org/W2964059111","https://openalex.org/W2964227892","https://openalex.org/W2966735560","https://openalex.org/W2972429904","https://openalex.org/W2990416542","https://openalex.org/W3011769666","https://openalex.org/W3022659297","https://openalex.org/W3098925401","https://openalex.org/W3099548126","https://openalex.org/W3104551220","https://openalex.org/W3105252106","https://openalex.org/W3212464553","https://openalex.org/W4230431917","https://openalex.org/W4286858386","https://openalex.org/W4289419835","https://openalex.org/W4294555834","https://openalex.org/W4327691454","https://openalex.org/W6617145748","https://openalex.org/W6640174482","https://openalex.org/W6679802252","https://openalex.org/W6683259483","https://openalex.org/W6738483526","https://openalex.org/W6742417552","https://openalex.org/W6745805511","https://openalex.org/W6753073282","https://openalex.org/W6753245724","https://openalex.org/W6756191538","https://openalex.org/W6756486208","https://openalex.org/W6786165652"],"related_works":["https://openalex.org/W4375867731","https://openalex.org/W2611989081","https://openalex.org/W2731899572","https://openalex.org/W4230611425","https://openalex.org/W4294635752","https://openalex.org/W4304166257","https://openalex.org/W4383066092","https://openalex.org/W3215138031","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"Deep":[0],"learning":[1,11,58,118],"has":[2],"enjoyed":[3],"much":[4],"recent":[5],"success,":[6],"and":[7,38,107,132],"applying":[8],"state-of-the-art":[9],"model":[10,59,70,117],"methods":[12,28],"to":[13,25,62,136],"controls":[14],"is":[15,21,65],"an":[16,74,94],"exciting":[17],"prospect.":[18],"However,":[19],"there":[20],"a":[22,43],"strong":[23],"reluctance":[24],"use":[26,52,67],"these":[27,47],"on":[29,35],"safety-critical":[30,154],"systems,":[31],"which":[32,45,72],"have":[33],"constraints":[34,48],"safety,":[36],"stability,":[37],"real-time":[39],"performance.":[40],"We":[41,142],"propose":[42],"framework":[44,97],"satisfies":[46],"while":[49,134],"allowing":[50],"the":[51,66,83,86,89,99],"of":[53,68,80,85,101],"deep":[54],"neural":[55,124],"networks":[56],"for":[57,76,146],"uncertainties.":[60],"Central":[61],"our":[63],"method":[64],"Bayesian":[69,116,123],"learning,":[71],"provides":[73],"avenue":[75],"maintaining":[77],"appropriate":[78],"degrees":[79],"caution":[81],"in":[82,153],"face":[84],"unknown.":[87],"In":[88],"proposed":[90],"approach,":[91],"we":[92,129],"develop":[93],"adaptive":[95],"control":[96],"leveraging":[98],"theory":[100],"stochastic":[102,108],"CLFs":[103],"(Control":[104,110],"Lyapunov":[105],"Functions)":[106,112],"CBFs":[109],"Barrier":[111],"along":[113],"with":[114,139],"tractable":[115],"via":[119],"Gaussian":[120],"Processes":[121],"or":[122],"networks.":[125],"Under":[126],"reasonable":[127],"assumptions,":[128],"guarantee":[130],"stability":[131],"safety":[133],"adapting":[135],"unknown":[137],"dynamics":[138],"probability":[140],"1.":[141],"demonstrate":[143],"this":[144],"architecture":[145],"high-speed":[147,155],"terrestrial":[148],"mobility":[149],"targeting":[150],"potential":[151],"applications":[152],"Mars":[156],"rover":[157],"missions.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":2}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
