{"id":"https://openalex.org/W4389667374","doi":"https://doi.org/10.1109/iros55552.2023.10342094","title":"Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots","display_name":"Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667374","doi":"https://doi.org/10.1109/iros55552.2023.10342094"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/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":true,"raw_author_name":"Jaemin Lee","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","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":false,"raw_author_name":"Jeeseop Kim","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","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","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100329292"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":3.0255,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92977156,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2384","last_page":"2391"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9965999722480774,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/weighting","display_name":"Weighting","score":0.7156978845596313},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6108740568161011},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.5709105730056763},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.5224539041519165},{"id":"https://openalex.org/keywords/liveness","display_name":"Liveness","score":0.4909560978412628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4829787313938141},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.47065961360931396},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.4441583752632141},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.42364779114723206},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39737626910209656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38809090852737427},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.367313951253891},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.2887735366821289},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19750264286994934},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.19371247291564941},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18053984642028809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13798558712005615}],"concepts":[{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.7156978845596313},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6108740568161011},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.5709105730056763},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.5224539041519165},{"id":"https://openalex.org/C15569618","wikidata":"https://www.wikidata.org/wiki/Q3561421","display_name":"Liveness","level":2,"score":0.4909560978412628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4829787313938141},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.47065961360931396},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.4441583752632141},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.42364779114723206},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39737626910209656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38809090852737427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.367313951253891},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.2887735366821289},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19750264286994934},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.19371247291564941},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18053984642028809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13798558712005615},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1980569135","https://openalex.org/W2061063863","https://openalex.org/W2560504659","https://openalex.org/W2563129138","https://openalex.org/W2588802774","https://openalex.org/W2620840602","https://openalex.org/W2735010720","https://openalex.org/W2841721725","https://openalex.org/W2909149020","https://openalex.org/W2914653242","https://openalex.org/W2945541231","https://openalex.org/W2964239424","https://openalex.org/W3035313359","https://openalex.org/W3035707643","https://openalex.org/W3120481589","https://openalex.org/W3127774507","https://openalex.org/W3147461353","https://openalex.org/W3186006973","https://openalex.org/W3207637958","https://openalex.org/W4213415200","https://openalex.org/W4226452773","https://openalex.org/W4285193215","https://openalex.org/W4286375138","https://openalex.org/W4287185641","https://openalex.org/W4293057543","https://openalex.org/W4313562870","https://openalex.org/W4382936289","https://openalex.org/W4390282274","https://openalex.org/W6793728789","https://openalex.org/W6793822404","https://openalex.org/W6849024925"],"related_works":["https://openalex.org/W2081199208","https://openalex.org/W1565271071","https://openalex.org/W3349016","https://openalex.org/W3160870209","https://openalex.org/W2494011163","https://openalex.org/W2139648957","https://openalex.org/W1481041875","https://openalex.org/W2391970076","https://openalex.org/W2053262709","https://openalex.org/W2360699417"],"abstract_inverted_index":{"The":[0,114,178],"safety-critical":[1,23],"control":[2,24],"of":[3,29,109,121,137,147,159,180,203],"robotic":[4],"systems":[5],"often":[6],"must":[7],"account":[8],"for":[9],"multiple,":[10],"potentially":[11],"conflicting,":[12],"safety":[13,31,44,54,67,84,96,111,139],"constraints.":[14,58,140],"This":[15],"paper":[16,143],"proposes":[17,166],"novel":[18],"relaxation":[19],"techniques":[20],"to":[21,42,91,105,126,156,169,195],"address":[22],"problems":[25],"in":[26,47,151,162],"the":[27,60,66,83,93,119,127,131,145,152,157,163,171,181],"presence":[28],"conflicting":[30],"conditions.":[32],"In":[33],"particular,":[34],"Control":[35],"Barrier":[36],"Functions":[37],"(CBFs)":[38],"provide":[39],"a":[40,48,80,102,167,175,191,196],"means":[41],"encode":[43],"as":[45],"constraints":[46],"Quadratic":[49],"Program":[50],"(QP),":[51],"wherein":[52],"multiple":[53,57],"conditions":[55,68,85,97,112],"yield":[56],"However,":[59],"QP":[61,128],"problem":[62,129],"becomes":[63],"infeasible":[64],"when":[65],"cannot":[69],"be":[70],"simultaneously":[71],"satisfied.":[72],"To":[73],"resolve":[74],"this":[75,142],"potential":[76],"infeasibility,":[77],"we":[78],"introduce":[79],"hierarchy":[81],"between":[82],"and":[86,188],"employ":[87],"an":[88],"additional":[89,138],"variable":[90],"relax":[92],"less":[94],"important":[95],"(Relaxed-CBF-QP).":[98],"We":[99],"also":[100],"formulate":[101],"cascaded":[103],"structure":[104],"achieve":[106],"smaller":[107],"violations":[108],"lower-priority":[110],"(Hierarchical-CBF-QP).":[113],"proposed":[115,182],"approach,":[116],"therefore,":[117],"ensures":[118],"existence":[120],"at":[122],"least":[123],"one":[124],"solution":[125],"with":[130,200],"CBFs":[132],"while":[133],"dynamically":[134],"balancing":[135],"enforcement":[136],"Importantly,":[141],"evaluates":[144],"impact":[146],"different":[148,201],"weighting":[149,172],"factors":[150,173],"Hierarchical-CBF-QP":[153],"and,":[154],"due":[155],"sensitivity":[158],"these":[160],"weightings":[161],"observed":[164],"behavior,":[165],"method":[168],"determine":[170],"via":[174],"sampling-based":[176],"technique.":[177],"validity":[179],"approach":[183],"is":[184],"demonstrated":[185],"through":[186,198],"simulations":[187],"experiments":[189],"on":[190],"quadrupedal":[192],"robot":[193],"navigating":[194],"goal":[197],"regions":[199],"levels":[202],"danger.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7}],"updated_date":"2026-01-10T23:39:48.068659","created_date":"2025-10-10T00:00:00"}
