{"id":"https://openalex.org/W4413945297","doi":"https://doi.org/10.1109/icra55743.2025.11127715","title":"Forward Invariance in Trajectory Spaces for Safety-Critical Control","display_name":"Forward Invariance in Trajectory Spaces for Safety-Critical Control","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945297","doi":"https://doi.org/10.1109/icra55743.2025.11127715"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127715","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/A5092397654","display_name":"Matti Vahs","orcid":"https://orcid.org/0000-0001-6046-7460"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Matti Vahs","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042154760","display_name":"Rafael I. Cabral Muchacho","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rafael I. Cabral Muchacho","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042698317","display_name":"Jana T\u016fmov\u00e1","orcid":"https://orcid.org/0000-0003-4173-2593"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jana Tumova","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092397654"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.0791,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80991001,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3926","last_page":"3932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.987500011920929,"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":0.987500011920929,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12810","display_name":"Real-time simulation and control systems","score":0.9599000215530396,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7135382890701294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4631677567958832},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4311125874519348},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3775312602519989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18338245153427124},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17027157545089722}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7135382890701294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4631677567958832},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4311125874519348},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3775312602519989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18338245153427124},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17027157545089722},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127715","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/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1999502602","https://openalex.org/W2489820110","https://openalex.org/W2523760000","https://openalex.org/W2560445289","https://openalex.org/W2560504659","https://openalex.org/W2563378438","https://openalex.org/W2758653969","https://openalex.org/W2765203865","https://openalex.org/W2892245034","https://openalex.org/W2914264703","https://openalex.org/W3135368396","https://openalex.org/W3159266051","https://openalex.org/W3164515101","https://openalex.org/W3186317065","https://openalex.org/W4226195072","https://openalex.org/W4250589301","https://openalex.org/W4293370597","https://openalex.org/W4314946893","https://openalex.org/W4382935680","https://openalex.org/W4388430525","https://openalex.org/W4391020604","https://openalex.org/W4392705148","https://openalex.org/W4399168175","https://openalex.org/W4401413891","https://openalex.org/W4401415129"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008"],"abstract_inverted_index":{"Useful":[0],"robot":[1],"control":[2,47,73],"algorithms":[3],"should":[4],"not":[5],"only":[6],"achieve":[7],"performance":[8,37,156],"objectives":[9],"but":[10],"also":[11],"adhere":[12],"to":[13,24,56,135,151],"hard":[14],"safety":[15,28,39,141,152],"constraints.":[16,142],"Control":[17],"Barrier":[18],"Functions":[19],"(CBFs)":[20],"have":[21],"been":[22],"developed":[23],"provably":[25,139],"ensure":[26],"system":[27],"through":[29],"forward":[30,122],"invariance.":[31],"However,":[32],"they":[33,41],"often":[34],"unnecessarily":[35],"sacrifice":[36],"for":[38,58],"since":[40],"are":[42],"purely":[43],"reactive.":[44],"Receding":[45],"horizon":[46],"(RHC),":[48],"on":[49,71],"the":[50,59,84,90,95,116,149],"other":[51],"hand,":[52],"consider":[53],"planned":[54,98],"trajectories":[55,99,137],"account":[57],"future":[60],"evolution":[61,96],"of":[62,86,97],"a":[63,68,101,125],"system.":[64,104],"This":[65],"work":[66],"provides":[67],"new":[69],"perspective":[70],"safety-critical":[72],"by":[74],"introducing":[75],"Forward":[76],"Invariance":[77],"in":[78,115],"Trajectory":[79],"Spaces":[80],"(FITS).":[81],"We":[82,128],"lift":[83],"problem":[85],"safe":[87],"RHC":[88],"into":[89,113],"trajectory":[91,117],"space":[92,118],"and":[93,160],"describe":[94],"as":[100],"controlled":[102],"dynamical":[103],"Safety":[105],"constraints":[106],"defined":[107],"over":[108,157],"states":[109],"can":[110],"be":[111],"converted":[112],"sets":[114],"which":[119],"we":[120],"render":[121],"invariant":[123],"via":[124],"CBF":[126,159],"framework.":[127],"derive":[129],"an":[130],"efficient":[131],"quadratic":[132],"program":[133],"(QP)":[134],"synthesize":[136],"that":[138,146],"satisfy":[140],"Our":[143],"experiments":[144],"support":[145],"FITS":[147],"improves":[148],"adherence":[150],"specifications":[153],"without":[154],"sacrificing":[155],"alternative":[158],"NMPC":[161],"methods.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}