{"id":"https://openalex.org/W4401415037","doi":"https://doi.org/10.1109/icra57147.2024.10610589","title":"Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions","display_name":"Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415037","doi":"https://doi.org/10.1109/icra57147.2024.10610589"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610589","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5004930845","display_name":"Jeeseop Kim","orcid":"https://orcid.org/0000-0003-4028-2359"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jeeseop Kim","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329292","display_name":"Jaemin Lee","orcid":"https://orcid.org/0000-0002-2154-300X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaemin Lee","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004930845"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":1.0497,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77611308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3478","last_page":"3484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.6185182929039001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6015617847442627},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.570536732673645},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48018184304237366},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44471338391304016},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3654025197029114},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33307451009750366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21669870615005493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1301916241645813},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.12640166282653809}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6185182929039001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6015617847442627},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.570536732673645},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48018184304237366},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44471338391304016},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3654025197029114},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33307451009750366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21669870615005493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1301916241645813},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.12640166282653809}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610589","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1424654272","https://openalex.org/W1893135903","https://openalex.org/W2002440441","https://openalex.org/W2116364955","https://openalex.org/W2130952857","https://openalex.org/W2137313981","https://openalex.org/W2415570156","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2612914963","https://openalex.org/W2779458783","https://openalex.org/W2909324603","https://openalex.org/W2954730031","https://openalex.org/W2962959857","https://openalex.org/W2964040381","https://openalex.org/W2964138223","https://openalex.org/W2968945909","https://openalex.org/W3012148556","https://openalex.org/W3035118532","https://openalex.org/W3035313359","https://openalex.org/W3045462839","https://openalex.org/W3045869788","https://openalex.org/W3113616534","https://openalex.org/W3132087422","https://openalex.org/W3139047046","https://openalex.org/W3186317065","https://openalex.org/W3195647294","https://openalex.org/W3207637958","https://openalex.org/W3208966794","https://openalex.org/W4206058163","https://openalex.org/W4313562870","https://openalex.org/W4383108961","https://openalex.org/W4387546354","https://openalex.org/W4389665406","https://openalex.org/W4389666311","https://openalex.org/W4389667374"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747"],"abstract_inverted_index":{"This":[0,63],"paper":[1],"presents":[2],"a":[3,38,42,49],"safety-critical":[4,76],"approach":[5,147],"to":[6,28,74,99,106,118,120],"the":[7,24,30,34,57,61,70,81,85,108,112,121,126,131,140,146],"coordination":[8,32,77,83],"of":[9,33,84,133,145],"robots":[10,35,86],"in":[11,60],"dynamic":[12,58],"environments.":[13],"To":[14],"this":[15],"end,":[16],"we":[17],"leverage":[18],"control":[19],"barrier":[20],"functions":[21],"(CBFs)":[22],"with":[23],"forward":[25,71],"reachable":[26,72],"set":[27,73],"guarantee":[29,80],"safe":[31,82],"while":[36,124],"preserving":[37],"desired":[39],"trajectory":[40,51,91],"via":[41],"layered":[43],"controller.":[44,142],"The":[45,89,115,143],"top-level":[46,113],"planner":[47,64,92],"generates":[48],"safety-ensured":[50,109],"for":[52,56],"each":[53,134],"agent,":[54],"accounting":[55],"constraints":[59],"environment.":[62],"leverages":[65],"high-order":[66],"CBFs":[67],"based":[68],"on":[69],"ensure":[75],"control,":[78],"i.e.,":[79],"during":[87],"locomotion.":[88],"middle-level":[90],"employs":[93],"single":[94],"rigid":[95],"body":[96],"(SRB)":[97],"dynamics":[98],"generate":[100],"optimal":[101,122],"ground":[102],"reaction":[103],"forces":[104],"(GRFs)":[105],"track":[107],"trajectories":[110],"from":[111,139],"planner.":[114],"whole-body":[116],"motions":[117],"adhere":[119],"GRFs":[123],"ensuring":[125],"friction":[127],"cone":[128],"condition":[129],"at":[130],"end":[132],"stance":[135],"leg":[136],"are":[137],"generated":[138],"low-level":[141],"effectiveness":[144],"is":[148],"demonstrated":[149],"through":[150],"simulation":[151],"and":[152],"hardware":[153],"experiments.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}