{"id":"https://openalex.org/W3119449299","doi":"https://doi.org/10.1109/icra48506.2021.9561348","title":"Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers","display_name":"Efficient Reachability Analysis of Closed-Loop Systems with Neural Network Controllers","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3119449299","doi":"https://doi.org/10.1109/icra48506.2021.9561348","mag":"3119449299"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.01815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064513857","display_name":"Michael Everett","orcid":"https://orcid.org/0000-0001-9377-6745"},"institutions":[{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Everett","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology","Massachusetts Institute of Technology,Aerospace Controls Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology,Aerospace Controls Laboratory","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076998853","display_name":"Golnaz Habibi","orcid":"https://orcid.org/0000-0002-9130-9323"},"institutions":[{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Golnaz Habibi","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology","Massachusetts Institute of Technology,Aerospace Controls Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology,Aerospace Controls Laboratory","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I4210157567","display_name":"Aerospace Testing (United States)","ror":"https://ror.org/04j7z5d67","country_code":"US","type":"company","lineage":["https://openalex.org/I4210157567"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology","Massachusetts Institute Of Technology#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210157567","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute Of Technology#TAB#","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4384","last_page":"4390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9782000184059143,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9652000069618225,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/reachability","display_name":"Reachability","score":0.9005635976791382},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6567745804786682},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6487960815429688},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5222685933113098},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.46906042098999023},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4671831429004669},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.4382324516773224},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43707275390625},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3354301452636719},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26149243116378784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2115979790687561},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16278254985809326},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16021639108657837}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9005635976791382},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6567745804786682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6487960815429688},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5222685933113098},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.46906042098999023},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4671831429004669},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.4382324516773224},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43707275390625},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3354301452636719},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26149243116378784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2115979790687561},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16278254985809326},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16021639108657837},{"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/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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9561348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2101.01815","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.01815","pdf_url":"https://arxiv.org/pdf/2101.01815","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3119449299","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2101.01815.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/145371","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145371","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"doi:10.48550/arxiv.2101.01815","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.01815","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.01815","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.01815","pdf_url":"https://arxiv.org/pdf/2101.01815","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3119449299.pdf","grobid_xml":"https://content.openalex.org/works/W3119449299.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W172589331","https://openalex.org/W618708471","https://openalex.org/W1496537269","https://openalex.org/W1596877211","https://openalex.org/W2123357397","https://openalex.org/W2176215692","https://openalex.org/W2492473950","https://openalex.org/W2543296129","https://openalex.org/W2560504659","https://openalex.org/W2576277975","https://openalex.org/W2594877703","https://openalex.org/W2721006554","https://openalex.org/W2794609696","https://openalex.org/W2807040120","https://openalex.org/W2890472662","https://openalex.org/W2898963688","https://openalex.org/W2920498407","https://openalex.org/W2938701611","https://openalex.org/W2949979136","https://openalex.org/W2962692913","https://openalex.org/W2963054787","https://openalex.org/W2963334980","https://openalex.org/W2963424284","https://openalex.org/W2963440492","https://openalex.org/W2963496101","https://openalex.org/W2963626025","https://openalex.org/W2964040381","https://openalex.org/W2964079458","https://openalex.org/W2964130946","https://openalex.org/W2964153729","https://openalex.org/W2973258311","https://openalex.org/W2980176926","https://openalex.org/W3024917158","https://openalex.org/W3031161302","https://openalex.org/W3091798065","https://openalex.org/W3098925401","https://openalex.org/W3111646504","https://openalex.org/W3120409696","https://openalex.org/W6637162671","https://openalex.org/W6696497002","https://openalex.org/W6731923558","https://openalex.org/W6734921443","https://openalex.org/W6740406300","https://openalex.org/W6748277150","https://openalex.org/W6750745550","https://openalex.org/W6751834733","https://openalex.org/W6754543342","https://openalex.org/W6754619240","https://openalex.org/W6755480234","https://openalex.org/W6760047469","https://openalex.org/W6765694979","https://openalex.org/W6776017768","https://openalex.org/W6783918218"],"related_works":["https://openalex.org/W2791796486","https://openalex.org/W3094058178","https://openalex.org/W3046540105","https://openalex.org/W3033207833","https://openalex.org/W3208689195","https://openalex.org/W2953736942","https://openalex.org/W1496421148","https://openalex.org/W2962789054","https://openalex.org/W3006506827","https://openalex.org/W3022299162","https://openalex.org/W2295617766","https://openalex.org/W2951020262","https://openalex.org/W2727067723","https://openalex.org/W2046495379","https://openalex.org/W3100803008","https://openalex.org/W2765477967","https://openalex.org/W3203939728","https://openalex.org/W3156364607","https://openalex.org/W2716852619"],"abstract_inverted_index":{"Neural":[0],"Networks":[1],"(NNs)":[2],"can":[3,119,169],"provide":[4,54],"major":[5],"empirical":[6],"performance":[7],"improvements":[8],"for":[9,72,86,89],"robotic":[10],"systems,":[11],"but":[12],"they":[13,106],"also":[14],"introduce":[15],"challenges":[16],"in":[17,173,175],"formally":[18],"analyzing":[19],"those":[20],"systems\u2019":[21],"safety":[22],"properties.":[23],"In":[24],"particular,":[25],"this":[26],"work":[27,42,76],"focuses":[28],"on":[29,45,164,196],"estimating":[30],"the":[31,50,78,96,115,124,134,178,183,186],"forward":[32],"reachable":[33,47],"set":[34,128],"of":[35,114,177,192],"closed-loop":[36,90],"systems":[37,91,142,153],"with":[38,92,143,154],"NN":[39,93],"controllers.":[40,94],"Recent":[41],"provides":[43],"bounds":[44,57,125],"these":[46],"sets,":[48],"yet":[49],"computationally":[51],"efficient":[52],"approaches":[53],"overly":[55],"conservative":[56],"(thus":[58],"cannot":[59],"be":[60,120],"used":[61,121],"to":[62,110,122,151,182,188],"verify":[63],"useful":[64],"properties),":[65],"whereas":[66],"tighter":[67],"methods":[68],"are":[69,98,107],"too":[70],"intensive":[71],"online":[73],"computation.":[74],"This":[75],"bridges":[77],"gap":[79],"by":[80],"formulating":[81],"a":[82,197],"convex":[83],"optimization":[84],"problem":[85],"reachability":[87],"analysis":[88],"While":[95],"solutions":[97],"less":[99],"tight":[100],"than":[101,132],"prior":[102],"semidefinite":[103],"program-based":[104],"methods,":[105],"substantially":[108],"faster":[109],"compute,":[111],"and":[112,145,167,185],"some":[113],"available":[116],"computation":[117,179],"time":[118,180],"refine":[123],"through":[126],"input":[127],"partitioning,":[129],"which":[130],"more":[131],"overcomes":[133],"tightness":[135],"gap.":[136],"The":[137],"proposed":[138],"framework":[139],"further":[140],"considers":[141],"measurement":[144],"process":[146],"noise,":[147],"thus":[148],"being":[149],"applicable":[150],"realistic":[152],"uncertainty.":[155],"Finally,":[156],"numerical":[157],"comparisons":[158],"show":[159],"that":[160],"our":[161],"approach":[162],"based":[163],"linear":[165],"programming":[166],"partitioning":[168],"give":[170],"10\u00d7":[171],"reduction":[172],"conservatism":[174],"$\\frac{1}{2}$":[176],"compared":[181],"state-of-the-art,":[184],"ability":[187],"handle":[189],"various":[190],"sources":[191],"uncertainty":[193],"is":[194],"highlighted":[195],"quadrotor":[198],"model.":[199]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
