{"id":"https://openalex.org/W4413918546","doi":"https://doi.org/10.1109/icra55743.2025.11127883","title":"Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods","display_name":"Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918546","doi":"https://doi.org/10.1109/icra55743.2025.11127883"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127883","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/A5114387946","display_name":"Richie R. Suganda","orcid":null},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Richie R. Suganda","raw_affiliation_strings":["University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA,77004"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA,77004","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101087143","display_name":"Tony Tran","orcid":"https://orcid.org/0009-0003-7623-3337"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tony Tran","raw_affiliation_strings":["Cullen College of Engineering Research Computing, University of Houston,Houston,TX,USA,77004"],"affiliations":[{"raw_affiliation_string":"Cullen College of Engineering Research Computing, University of Houston,Houston,TX,USA,77004","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047722991","display_name":"Miao Pan","orcid":"https://orcid.org/0000-0003-2138-4413"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miao Pan","raw_affiliation_strings":["University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA,77004"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Electrical and Computer Engineering,Houston,TX,USA,77004","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101901347","display_name":"Lei Fan","orcid":"https://orcid.org/0000-0002-9386-6991"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lei Fan","raw_affiliation_strings":["University of Houston,Department of Engineering Technology,Houston,TX,USA,77004"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Engineering Technology,Houston,TX,USA,77004","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038016996","display_name":"Qin Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qin Lin","raw_affiliation_strings":["University of Houston,Department of Engineering Technology,Houston,TX,USA,77004"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Engineering Technology,Houston,TX,USA,77004","institution_ids":["https://openalex.org/I44461941"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101578562","display_name":"Bin Hu","orcid":"https://orcid.org/0000-0001-9585-8269"},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin Hu","raw_affiliation_strings":["University of Houston,Department of Engineering Technology,Houston,TX,USA,77004"],"affiliations":[{"raw_affiliation_string":"University of Houston,Department of Engineering Technology,Houston,TX,USA,77004","institution_ids":["https://openalex.org/I44461941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5114387946"],"corresponding_institution_ids":["https://openalex.org/I44461941"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31731135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7794","last_page":"7800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9473999738693237,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9473999738693237,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10400","display_name":"Network Security and Intrusion Detection","score":0.925599992275238,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/computer-science","display_name":"Computer science","score":0.609092116355896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.534529447555542},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5227311253547668},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4091491103172302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16506850719451904},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12391763925552368}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.609092116355896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.534529447555542},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5227311253547668},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4091491103172302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16506850719451904},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12391763925552368},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127883","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":[{"id":"https://openalex.org/G158453571","display_name":null,"funder_award_id":"2007386","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1499219562","https://openalex.org/W1891170951","https://openalex.org/W1994178651","https://openalex.org/W1994349244","https://openalex.org/W2006501180","https://openalex.org/W2036316876","https://openalex.org/W2125188427","https://openalex.org/W2131687331","https://openalex.org/W2160146756","https://openalex.org/W2164139712","https://openalex.org/W2491042601","https://openalex.org/W2555485441","https://openalex.org/W2558899534","https://openalex.org/W2560504659","https://openalex.org/W2605102758","https://openalex.org/W2735010720","https://openalex.org/W2769646558","https://openalex.org/W2968945909","https://openalex.org/W3004300588","https://openalex.org/W3035313359","https://openalex.org/W3101581982","https://openalex.org/W3207298423","https://openalex.org/W4225310493","https://openalex.org/W4360612624","https://openalex.org/W4383503542","https://openalex.org/W4387385781","https://openalex.org/W4391421412","https://openalex.org/W4392630092","https://openalex.org/W4399601233"],"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/W4396696052"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"a":[3,10,16,20,63,94],"distributed":[4,66],"leader-follower":[5,67],"formation":[6],"control":[7,69],"problem":[8],"for":[9,26,51],"group":[11],"of":[12,23,48,93,144],"agents,":[13],"each":[14],"using":[15],"body-fixed":[17],"camera":[18],"with":[19,41,113],"limited":[21],"field":[22],"view":[24],"(FOV)":[25],"state":[27,55,76],"estimation.":[28,56],"The":[29],"main":[30],"challenge":[31],"arises":[32],"from":[33,123],"the":[34,38,49,90,136,140,145],"need":[35],"to":[36,45,88,118],"coordinate":[37],"agents'":[39],"movements":[40],"their":[42],"cameras'":[43],"FOV":[44,73],"maintain":[46],"visibility":[47],"leader":[50],"accurate":[52],"and":[53,106,142],"reliable":[54],"To":[57],"address":[58],"this":[59],"challenge,":[60],"we":[61],"propose":[62],"novel":[64],"perception-aware":[65],"safe":[68],"scheme":[70],"that":[71],"incorporates":[72],"limits":[74],"as":[75],"constraints.":[77,100],"A":[78],"Control":[79],"Barrier":[80],"Function":[81],"(CBF)":[82],"based":[83,105,110],"quadratic":[84],"program":[85],"is":[86],"employed":[87],"ensure":[89],"forward":[91],"invariance":[92],"safety":[95],"set":[96],"defined":[97],"by":[98],"these":[99],"Furthermore,":[101],"new":[102],"neural":[103],"network":[104],"double":[107],"bounding":[108],"boxes":[109],"estimators,":[111],"combined":[112],"temporal":[114],"filters,":[115],"are":[116],"developed":[117],"estimate":[119],"system":[120],"states":[121],"directly":[122],"real-time":[124],"image":[125],"data,":[126],"providing":[127],"consistent":[128],"performance":[129],"across":[130],"various":[131],"environments.":[132,151],"Comparison":[133],"results":[134],"in":[135,148],"Gazebo":[137],"simulator":[138],"demonstrate":[139],"effectiveness":[141],"robustness":[143],"proposed":[146],"framework":[147],"two":[149],"distinct":[150]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
