{"id":"https://openalex.org/W4401415396","doi":"https://doi.org/10.1109/icra57147.2024.10610620","title":"Robust Model Predictive Control with Control Barrier Functions for Autonomous Surface Vessels","display_name":"Robust Model Predictive Control with Control Barrier Functions for Autonomous Surface Vessels","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415396","doi":"https://doi.org/10.1109/icra57147.2024.10610620"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610620","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/retrieve/7725ae51-ba8b-40f4-ac70-7a07bcb1dc52","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058590941","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0001-9622-6415"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028456008","display_name":"Alejandro Gonz\u00e1lez-Garc\u00eda","orcid":"https://orcid.org/0000-0001-5575-0843"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Alejandro Gonzalez-Garcia","raw_affiliation_strings":["KU Leuven,MECO Research Team,Department of Mechanical Engineering,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven,MECO Research Team,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["KU Leuven,MECO Research Team,Department of Mechanical Engineering,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven,MECO Research Team,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103326255","display_name":"Carlo Ratti","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlo Ratti","raw_affiliation_strings":["Massachusetts Institute of Technology,SENSEable City Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,SENSEable City Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6089","last_page":"6095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955999851226807,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9853000044822693,"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/model-predictive-control","display_name":"Model predictive control","score":0.7529842853546143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5595424771308899},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5141194462776184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37890270352363586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2432251274585724}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7529842853546143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5595424771308899},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5141194462776184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37890270352363586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2432251274585724}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10610620","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610620","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"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/735813","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/735813","pdf_url":"https://lirias.kuleuven.be/retrieve/7725ae51-ba8b-40f4-ac70-7a07bcb1dc52","source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA), JAPAN, Yokohama, 13-17 May 2024","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:re.public.polimi.it:11311/1301471","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1301471","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/735813","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/735813","pdf_url":"https://lirias.kuleuven.be/retrieve/7725ae51-ba8b-40f4-ac70-7a07bcb1dc52","source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA), JAPAN, Yokohama, 13-17 May 2024","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401415396.pdf","grobid_xml":"https://content.openalex.org/works/W4401415396.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1972149633","https://openalex.org/W1977164425","https://openalex.org/W1980569135","https://openalex.org/W2062373349","https://openalex.org/W2107207959","https://openalex.org/W2345644119","https://openalex.org/W2492811885","https://openalex.org/W2620840602","https://openalex.org/W2889738019","https://openalex.org/W2945541231","https://openalex.org/W3011578882","https://openalex.org/W3011888914","https://openalex.org/W3129245057","https://openalex.org/W3130257562","https://openalex.org/W3131678030","https://openalex.org/W3195647294","https://openalex.org/W3205227635","https://openalex.org/W4246518147","https://openalex.org/W4250589301","https://openalex.org/W4288762357","https://openalex.org/W4294662100","https://openalex.org/W4297231430","https://openalex.org/W4297236729","https://openalex.org/W4319996475","https://openalex.org/W4383108227","https://openalex.org/W4385461182"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W4248731570","https://openalex.org/W2556120871"],"abstract_inverted_index":{"In":[0],"autonomous":[1,122],"robot":[2],"navigation,":[3],"the":[4,73,87,113,137,159,173],"trajectories":[5],"from":[6],"path":[7],"planners":[8],"are":[9,56],"considered":[10],"to":[11,59,178],"be":[12],"safe":[13,78],"regions,":[14],"and":[15,42,53,92,127,150,154,166],"deviations":[16],"could":[17],"endanger":[18],"vessels.":[19],"Model":[20],"Predictive":[21],"Control":[22,107],"(MPC)":[23],"stands":[24],"as":[25,33,40,81],"a":[26,76,82,100],"popular":[27],"choice":[28],"for":[29,67],"trajectory":[30],"tracking":[31,146],"problems":[32],"it":[34],"naturally":[35],"addresses":[36],"operational":[37],"constraints,":[38],"such":[39],"dynamics":[41],"control":[43,104,160],"constraints.":[44],"Nevertheless,":[45],"achieving":[46],"robustness":[47],"in":[48,86,125,152],"changing":[49],"environments":[50],"like":[51],"oceans":[52],"rivers,":[54],"which":[55,111],"constantly":[57],"subject":[58],"significant":[60],"external":[61,132],"disturbances,":[62],"remains":[63],"an":[64,121],"ongoing":[65],"challenge":[66],"MPC.":[68],"It":[69],"must":[70],"consistently":[71],"keep":[72],"system":[74],"within":[75],"predefined":[77],"region":[79],"(such":[80],"reference":[83],"trajectory)":[84],"even":[85],"presence":[88],"of":[89,176],"model":[90,102],"inaccuracies":[91],"perturbations.":[93],"To":[94],"address":[95],"this":[96],"challenge,":[97],"we":[98],"present":[99],"robust":[101],"predictive":[103],"strategy":[105,144],"utilizing":[106],"Barrier":[108],"Functions":[109],"(CBFs),":[110],"increases":[112,163],"disturbance-rejection":[114],"abilities.":[115],"We":[116],"verify":[117],"our":[118,141],"method":[119],"on":[120],"surface":[123],"vessel":[124],"simulation":[126],"natural":[128],"waters,":[129],"both":[130],"with":[131,136],"disturbances.":[133,179],"Specifically,":[134],"compared":[135],"traditional":[138],"MPC":[139],"method,":[140],"proposed":[142],"MPC-CBF":[143,177],"reduces":[145],"errors":[147],"by":[148,164],"17.82%":[149],"40.26%":[151],"simulations":[153],"field":[155],"experiments,":[156],"respectively.":[157],"Although":[158],"effort":[161],"slightly":[162],"7.78%":[165],"4.20%,":[167],"respectively,":[168],"these":[169],"results":[170],"clearly":[171],"demonstrate":[172],"enhanced":[174],"resilience":[175]},"counts_by_year":[{"year":2025,"cited_by_count":9}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
