{"id":"https://openalex.org/W4413926016","doi":"https://doi.org/10.1109/icra55743.2025.11127533","title":"A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control","display_name":"A Fairness-Oriented Control Framework for Safety-Critical Multi-Robot Systems: Alternative Authority Control","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926016","doi":"https://doi.org/10.1109/icra55743.2025.11127533"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127533","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/A5101809577","display_name":"Lei Shi","orcid":"https://orcid.org/0000-0001-5664-1462"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lei Shi","raw_affiliation_strings":["University of Wisconsin-Madison,Madison,WI,US"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Madison,WI,US","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020754587","display_name":"Qichao Liu","orcid":"https://orcid.org/0000-0002-2938-7953"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qichao Liu","raw_affiliation_strings":["University of Wisconsin-Madison,Madison,WI,US"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Madison,WI,US","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101550505","display_name":"Cheng Zhou","orcid":"https://orcid.org/0000-0002-9527-6442"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Zhou","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100335129","display_name":"Xiong Li","orcid":"https://orcid.org/0000-0001-5324-1404"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiong Li","raw_affiliation_strings":["Tencent Robotics X,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,Shenzhen,China","institution_ids":["https://openalex.org/I2250653659"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101809577"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34627426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16283","last_page":"16289"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.9003999829292297,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/control","display_name":"Control (management)","score":0.6693726181983948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5798972249031067},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5000455379486084},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44870343804359436},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34333163499832153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1864365041255951},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10308396816253662}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6693726181983948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5798972249031067},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5000455379486084},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44870343804359436},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34333163499832153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1864365041255951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10308396816253662},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127533","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W1993693205","https://openalex.org/W2103171634","https://openalex.org/W2153504150","https://openalex.org/W2291649624","https://openalex.org/W2560504659","https://openalex.org/W2968945909","https://openalex.org/W2997995952","https://openalex.org/W3096656822","https://openalex.org/W3104753760","https://openalex.org/W4296076980","https://openalex.org/W4383108357","https://openalex.org/W4383108480","https://openalex.org/W4383108773","https://openalex.org/W4383108854","https://openalex.org/W4383108928","https://openalex.org/W4383109091","https://openalex.org/W4383172026","https://openalex.org/W4389666019","https://openalex.org/W4400033032"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2638730922","https://openalex.org/W2190465783","https://openalex.org/W2027827693","https://openalex.org/W2381267592"],"abstract_inverted_index":{"This":[0,72],"paper":[1],"proposes":[2],"a":[3,29],"fair":[4,65],"control":[5,62],"framework":[6,106],"for":[7],"multi-robot":[8,112],"systems,":[9],"which":[10,32],"integrates":[11],"the":[12,44,61,70],"newly":[13],"introduced":[14],"Alternative":[15],"Authority":[16],"Control":[17,21,25],"(AAC)":[18],"and":[19,66,79,95,118],"Flexible":[20],"Barrier":[22],"Function":[23],"(F-CBF).":[24],"authority":[26,50],"refers":[27],"to":[28,51],"single":[30],"robot":[31],"can":[33],"plan":[34,52],"its":[35,115],"trajectory":[36],"while":[37],"considering":[38],"others":[39],"as":[40],"moving":[41],"obstacles,":[42],"meaning":[43],"other":[45],"robots":[46],"do":[47],"not":[48],"have":[49],"their":[53],"own":[54],"paths.":[55],"The":[56,84,105],"AAC":[57],"method":[58],"dynamically":[59],"distributes":[60],"authority,":[63],"enabling":[64],"coordinated":[67],"movement":[68],"across":[69],"system.":[71],"approach":[73],"significantly":[74],"improves":[75],"computational":[76,119],"efficiency,":[77],"scalability,":[78],"robustness":[80,117],"in":[81,111],"complex":[82],"environments.":[83],"proposed":[85],"F-CBF":[86],"extends":[87],"traditional":[88],"CBFs":[89],"by":[90,100],"incorporating":[91],"obstacle":[92,103],"shape,":[93],"velocity,":[94],"orientation.":[96],"FCBF":[97],"enhances":[98],"safety":[99],"accurate":[101],"dynamic":[102],"avoidance.":[104],"is":[107],"validated":[108],"through":[109],"simulations":[110],"scenarios,":[113],"demonstrating":[114],"safety,":[116],"efficiency.":[120]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
