{"id":"https://openalex.org/W4413918669","doi":"https://doi.org/10.1109/icra55743.2025.11127528","title":"Reachability Analysis for Black-Box Dynamical Systems","display_name":"Reachability Analysis for Black-Box Dynamical Systems","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918669","doi":"https://doi.org/10.1109/icra55743.2025.11127528"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5111396848","display_name":"Vamsi Krishna Chilakamarri","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"facility","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Vamsi Krishna Chilakamarri","raw_affiliation_strings":["Indian Institute of Technology,Madras,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,Madras,India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101334164","display_name":"Zeyuan Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zeyuan Feng","raw_affiliation_strings":["Stanford University,Department of Electrical and Computer Engineering at the University of Southern California LA, USA, and the department of Aeronautics and Astronautics,Stanford,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Electrical and Computer Engineering at the University of Southern California LA, USA, and the department of Aeronautics and Astronautics,Stanford,USA","institution_ids":["https://openalex.org/I13805885"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059176959","display_name":"Somil Bansal","orcid":"https://orcid.org/0000-0002-5826-7686"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["Stanford University,Department of Electrical and Computer Engineering at the University of Southern California LA, USA, and the department of Aeronautics and Astronautics,Stanford,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Electrical and Computer Engineering at the University of Southern California LA, USA, and the department of Aeronautics and Astronautics,Stanford,USA","institution_ids":["https://openalex.org/I13805885"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5111396848"],"corresponding_institution_ids":["https://openalex.org/I24676775"],"apc_list":null,"apc_paid":null,"fwci":2.2022,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.90389482,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3552","last_page":"3558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.6449999809265137,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.6449999809265137,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.931868851184845},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.829801082611084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5744768381118774},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.49694231152534485},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.29710617661476135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1402391791343689},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11172202229499817}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.931868851184845},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.829801082611084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5744768381118774},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.49694231152534485},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.29710617661476135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1402391791343689},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11172202229499817},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1973553756","https://openalex.org/W1975236902","https://openalex.org/W2011199136","https://openalex.org/W2030759815","https://openalex.org/W2053572490","https://openalex.org/W2057789475","https://openalex.org/W2071775092","https://openalex.org/W2090501324","https://openalex.org/W2116364955","https://openalex.org/W2116586985","https://openalex.org/W2336607923","https://openalex.org/W2752215370","https://openalex.org/W2783575859","https://openalex.org/W2796726869","https://openalex.org/W2807662017","https://openalex.org/W2934891176","https://openalex.org/W2962822210","https://openalex.org/W2963525569","https://openalex.org/W2964040381","https://openalex.org/W2968547875","https://openalex.org/W3043050416","https://openalex.org/W3080564557","https://openalex.org/W3158954568","https://openalex.org/W3173331501","https://openalex.org/W3183903337","https://openalex.org/W3206190169","https://openalex.org/W3207727352","https://openalex.org/W4390494915","https://openalex.org/W4391341349","https://openalex.org/W4399205818","https://openalex.org/W4402217505"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W4321471459"],"abstract_inverted_index":{"Hamilton-Jacobi":[0],"(HJ)":[1],"reachability":[2,54,117],"analysis":[3],"is":[4,45,82],"a":[5,22,39,52,133,138],"powerful":[6],"framework":[7],"for":[8,63,119,154],"ensuring":[9],"safety":[10],"and":[11,60,110,137],"performance":[12],"in":[13,32,148],"autonomous":[14],"systems.":[15,66,128,157],"However,":[16],"existing":[17,116],"methods":[18],"typically":[19],"rely":[20],"on":[21,132],"white-box":[23,120],"dynamics":[24],"model":[25,41],"of":[26,42,97,145],"the":[27,43,71,77,87,94,98,143,151],"system,":[28],"limiting":[29],"their":[30,124],"applicability":[31],"many":[33],"practical":[34],"robotics":[35],"scenarios":[36],"where":[37],"only":[38],"black-box":[40,64,78,127,134],"system":[44],"available.":[46],"In":[47],"this":[48],"work,":[49],"we":[50,141],"propose":[51],"novel":[53],"method":[55,102],"to":[56,85,106,122,126],"compute":[57],"reachable":[58,95,152],"sets":[59,153],"safe":[61],"controllers":[62],"dynamical":[65,156],"Our":[67],"approach":[68,147],"efficiently":[69],"approximates":[70],"Hamiltonian":[72,81],"function":[73],"using":[74],"samples":[75],"from":[76],"dynamics.":[79],"This":[80],"then":[83],"used":[84],"solve":[86],"HJ":[88],"Partial":[89],"Differential":[90],"Equation":[91],"(PDE),":[92],"providing":[93],"set":[96],"system.":[99],"The":[100],"proposed":[101],"can":[103,111],"be":[104,112],"applied":[105],"general":[107],"nonlinear":[108],"systems":[109,121],"seamlessly":[113],"integrated":[114],"with":[115],"toolboxes":[118],"extend":[123],"use":[125],"Through":[129],"simulation":[130],"studies":[131],"slip-wheel":[135],"car":[136],"quadruped":[139],"robot,":[140],"demonstrate":[142],"effectiveness":[144],"our":[146],"accurately":[149],"obtaining":[150],"blackbox":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
