{"id":"https://openalex.org/W4285102169","doi":"https://doi.org/10.1109/icra46639.2022.9811604","title":"Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots","display_name":"Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102169","doi":"https://doi.org/10.1109/icra46639.2022.9811604"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811604","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 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/A5101668802","display_name":"Xinglong Zhang","orcid":"https://orcid.org/0000-0002-0587-2487"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinglong Zhang","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043548738","display_name":"Yaoqian Peng","orcid":"https://orcid.org/0000-0001-5141-616X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoqian Peng","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721259","display_name":"Wei Pan","orcid":"https://orcid.org/0000-0003-1121-9879"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,the Netherlands","Department of Cognitive Robotics, Delft University of Technology, the Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,the Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, the Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053112608","display_name":"Xin Xu","orcid":"https://orcid.org/0000-0003-3238-745X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xu","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020386015","display_name":"Haibin Xie","orcid":"https://orcid.org/0000-0001-6408-9348"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Xie","raw_affiliation_strings":["National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,College of Intelligence Science and Technology,Changsha,China,410073","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101668802"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":3.1746,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.93922652,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5532","last_page":"5538"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"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":0.9991999864578247,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9922000169754028,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9919000267982483,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.9293786287307739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.658287525177002},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6509237289428711},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6225496530532837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5538846850395203},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5172241926193237},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.47976669669151306},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.46540719270706177},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.46069759130477905},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42172694206237793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4130239188671112},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3293818235397339},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17078927159309387},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06646358966827393}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.9293786287307739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.658287525177002},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6509237289428711},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6225496530532837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5538846850395203},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5172241926193237},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.47976669669151306},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.46540719270706177},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.46069759130477905},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42172694206237793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4130239188671112},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3293818235397339},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17078927159309387},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06646358966827393},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9811604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811604","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/191c4796-e3b0-4890-95f6-b491ad10c02f","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/191c4796-e3b0-4890-95f6-b491ad10c02f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Zhang, X, Peng, Y, Pan, W, Xu, X & Xie, H 2022, Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots. in 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 5532-5538, 39th IEEE International Conference on Robotics and Automation, ICRA 2022, Philadelphia, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9811604","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:tudelft.nl:uuid:f4e1f94d-0ec8-4f4a-82be-07b1cd2385e2","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:f4e1f94d-0ec8-4f4a-82be-07b1cd2385e2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2082826544","display_name":null,"funder_award_id":"Postdoctoral","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2518937804","display_name":null,"funder_award_id":"21A20518","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G497850299","display_name":null,"funder_award_id":"47680","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5057384242","display_name":null,"funder_award_id":"62003361","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5196624177","display_name":null,"funder_award_id":"61825305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5445607542","display_name":null,"funder_award_id":"62003361,61825305,U21A20518","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8354495100","display_name":null,"funder_award_id":"U21A20518","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8565926968","display_name":null,"funder_award_id":"U21A2051","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2015008374","https://openalex.org/W2070305104","https://openalex.org/W2116773335","https://openalex.org/W2129001432","https://openalex.org/W2164479831","https://openalex.org/W2171880613","https://openalex.org/W2300548493","https://openalex.org/W2345038028","https://openalex.org/W2581678437","https://openalex.org/W2597882942","https://openalex.org/W2768933283","https://openalex.org/W2779486833","https://openalex.org/W2797305442","https://openalex.org/W2802214905","https://openalex.org/W2885245712","https://openalex.org/W2888492136","https://openalex.org/W2906221518","https://openalex.org/W2946038967","https://openalex.org/W2968984153","https://openalex.org/W2973026380","https://openalex.org/W2983464671","https://openalex.org/W3006129553","https://openalex.org/W3014535293","https://openalex.org/W3038664116","https://openalex.org/W3043185857","https://openalex.org/W3049644873","https://openalex.org/W3092380111","https://openalex.org/W3101858751","https://openalex.org/W3119649950","https://openalex.org/W3135239975","https://openalex.org/W3155168014","https://openalex.org/W3183301260","https://openalex.org/W3195123665","https://openalex.org/W6684037837","https://openalex.org/W6753612098","https://openalex.org/W6780864868","https://openalex.org/W6786454801","https://openalex.org/W6790962122","https://openalex.org/W6794891594"],"related_works":["https://openalex.org/W2120447654","https://openalex.org/W2977179488","https://openalex.org/W2144453115","https://openalex.org/W2128223750","https://openalex.org/W4238532390","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W2742483371","https://openalex.org/W3005999311","https://openalex.org/W2165574943"],"abstract_inverted_index":{"Distributed":[0],"model":[1],"predictive":[2],"control":[3,9,45,106,159],"(DMPC)":[4],"concerns":[5],"how":[6,49],"to":[7,50,142],"online":[8],"multiple":[10],"robotic":[11],"systems":[12,79],"with":[13,97,119,163],"constraints":[14,28,57],"effectively.":[15],"However,":[16,48],"the":[17,31,104,124,132,157,167,170],"nonlinearity,":[18],"nonconvexity,":[19],"and":[20,27,33,102,153],"strong":[21],"interconnections":[22],"of":[23,55,76,88,131,160,169],"dynamic":[24],"system":[25],"models":[26],"can":[29],"make":[30],"real-time":[32],"real-world":[34,154],"DMPC":[35,75],"implementations":[36],"nontrivial.":[37],"Reinforcement":[38],"learning":[39,72,112,174],"(RL)":[40],"algorithms":[41],"are":[42],"promising":[43],"for":[44,74,176],"policy":[46,107,140],"design.":[47],"ensure":[51,143],"safety":[52],"in":[53,58,114],"terms":[54],"state":[56,81,120],"RL":[59],"remains":[60],"a":[61,67,98,109,115,128,137,147],"significant":[62],"issue.":[63],"This":[64],"paper":[65],"proposes":[66],"barrier":[68],"function-based":[69],"safe":[70,110,172],"reinforcement":[71,111,173],"algorithm":[73,113,175],"nonlinear":[77],"multi-robot":[78],"under":[80],"constraints.":[82],"The":[83],"proposed":[84,133,171],"approach":[85],"is":[86],"composed":[87],"several":[89],"local":[90,99,105],"learning-based":[91],"MPC":[92],"regulators.":[93],"Each":[94],"regulator,":[95],"associated":[96],"system,":[100],"learns":[101],"deploys":[103],"using":[108],"distributed":[116],"manner,":[117],"i.e.,":[118],"information":[121],"only":[122],"among":[123],"neighbor":[125],"agents.":[126],"As":[127],"prominent":[129],"feature":[130],"algorithm,":[134],"we":[135],"present":[136],"novel":[138],"barrier-based":[139],"structure":[141],"safety,":[144],"which":[145],"has":[146],"clear":[148],"mechanistic":[149],"interpretation.":[150],"Both":[151],"simulated":[152],"experiments":[155],"on":[156],"formation":[158],"mobile":[161],"robots":[162],"collision":[164],"avoidance":[165],"show":[166],"effectiveness":[168],"DMPC.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
