{"id":"https://openalex.org/W2994887584","doi":"https://doi.org/10.1109/iecon.2019.8927572","title":"Locally Semiconcave Control Barrier Function Design for Human Assist Control","display_name":"Locally Semiconcave Control Barrier Function Design for Human Assist Control","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2994887584","doi":"https://doi.org/10.1109/iecon.2019.8927572","mag":"2994887584"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2019.8927572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2019.8927572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5112090723","display_name":"Masayuki Saito","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Saito","raw_affiliation_strings":["Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081409402","display_name":"Hisakazu Nakamura","orcid":"https://orcid.org/0000-0002-7683-8761"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hisakazu Nakamura","raw_affiliation_strings":["Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101169121","display_name":"Takuya Hayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Hayashi","raw_affiliation_strings":["Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112288173","display_name":"Takao Yoshinaga","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takao Yoshinaga","raw_affiliation_strings":["Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Electrical Engineering, Tokyo University of Science, Chiba, Japan","institution_ids":["https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161296585"],"apc_list":null,"apc_paid":null,"fwci":1.1499,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78244224,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9969000220298767,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9969000220298767,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9901999831199646,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9898999929428101,"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/computer-science","display_name":"Computer science","score":0.7171209454536438},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.705633282661438},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5270920991897583},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4958110749721527},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4501105844974518},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4489893913269043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4228518605232239},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3899623155593872},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37544167041778564},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21895840764045715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1547728180885315},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11054357886314392}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7171209454536438},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.705633282661438},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5270920991897583},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4958110749721527},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4501105844974518},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4489893913269043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4228518605232239},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3899623155593872},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37544167041778564},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21895840764045715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1547728180885315},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11054357886314392},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2019.8927572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2019.8927572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G3494188886","display_name":"Human assist control theory based on control barrier function","funder_award_id":"19H02162","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W83782864","https://openalex.org/W1484739396","https://openalex.org/W1494380031","https://openalex.org/W1965438480","https://openalex.org/W1965796511","https://openalex.org/W1972149633","https://openalex.org/W1980569135","https://openalex.org/W2066807940","https://openalex.org/W2127918239","https://openalex.org/W2238345790","https://openalex.org/W2560504659","https://openalex.org/W2641562136","https://openalex.org/W2789826932","https://openalex.org/W2898971174","https://openalex.org/W2909149020","https://openalex.org/W2912406225","https://openalex.org/W3098925401","https://openalex.org/W3102238624","https://openalex.org/W4213416190","https://openalex.org/W6643032878","https://openalex.org/W6678848384"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"A":[0],"control":[1,10,23,90],"barrier":[2],"function":[3],"(CBF),":[4],"has":[5,28],"become":[6],"the":[7,80,87],"basis":[8],"for":[9,40,60],"methods":[11],"in":[12,15],"many":[13],"studies":[14],"recent":[16],"years.":[17],"In":[18,45],"particular,":[19],"a":[20,26,50,56,93],"human":[21,42,69],"assist":[22,70,89],"by":[24,85],"using":[25,55,86],"CBF":[27,53],"attracted":[29],"much":[30],"attention":[31],"since":[32],"theoretically":[33],"guarantees":[34],"that":[35],"state":[36],"constraints":[37],"will":[38],"hold":[39],"all":[41],"operators'":[43],"input.":[44],"this":[46],"paper,":[47],"we":[48],"propose":[49],"locally":[51],"semiconcave":[52],"(LS-CBF)":[54],"minimum":[57],"projection":[58],"method":[59,82],"multiple":[61],"CBFs.":[62],"An":[63],"LS-CBF":[64],"enables":[65],"us":[66],"to":[67],"design":[68],"controls":[71],"taking":[72],"decision":[73],"making":[74],"into":[75],"account.":[76],"The":[77],"effectiveness":[78],"of":[79,92],"proposed":[81],"is":[83],"confirmed":[84],"steering":[88],"problem":[91],"two-wheeled":[94],"mobile":[95],"robot":[96],"as":[97],"an":[98],"example.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}