{"id":"https://openalex.org/W4416750801","doi":"https://doi.org/10.1109/iros60139.2025.11247418","title":"Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments","display_name":"Online Synthesis of Control Barrier Functions with Local Occupancy Grid Maps for Safe Navigation in Unknown Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750801","doi":"https://doi.org/10.1109/iros60139.2025.11247418"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5079011491","display_name":"Yuepeng Zhang","orcid":"https://orcid.org/0000-0002-6520-2880"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuepeng Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100631448","display_name":"Yu Chen","orcid":"https://orcid.org/0000-0003-3708-5143"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Chen","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041227783","display_name":"Yuda Li","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuda Li","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041126305","display_name":"Shaoyuan Li","orcid":"https://orcid.org/0000-0003-3427-2912"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoyuan Li","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034304769","display_name":"Xiang Yin","orcid":"https://orcid.org/0000-0003-1944-1570"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yin","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Automation and Intelligent Sensing,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5079011491"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3090927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14884","last_page":"14891"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.16329999268054962,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.16329999268054962,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.09390000253915787,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.05810000002384186,"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/grid","display_name":"Grid","score":0.6031000018119812},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5115000009536743},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5091000199317932},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5055999755859375},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.460999995470047},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.44440001249313354}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7353000044822693},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6031000018119812},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5115000009536743},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5091000199317932},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5055999755859375},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.460999995470047},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.44440001249313354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4047999978065491},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.39629998803138733},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.37610000371932983},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36410000920295715},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32659998536109924},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.26010000705718994},{"id":"https://openalex.org/C2779089604","wikidata":"https://www.wikidata.org/wiki/Q7169333","display_name":"Permission","level":2,"score":0.2556000053882599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2031993666","https://openalex.org/W2103120971","https://openalex.org/W2117211893","https://openalex.org/W2140153041","https://openalex.org/W2155216327","https://openalex.org/W2504925967","https://openalex.org/W2560504659","https://openalex.org/W2968945909","https://openalex.org/W2977676795","https://openalex.org/W3003535010","https://openalex.org/W3131411499","https://openalex.org/W3145762295","https://openalex.org/W3168522732","https://openalex.org/W3195647294","https://openalex.org/W3198546120","https://openalex.org/W3207637958","https://openalex.org/W4206058163","https://openalex.org/W4221161625","https://openalex.org/W4255782797","https://openalex.org/W4312307243","https://openalex.org/W4376456312","https://openalex.org/W4382935714","https://openalex.org/W4383108357","https://openalex.org/W4383108854","https://openalex.org/W4389235528","https://openalex.org/W4389317836","https://openalex.org/W4389884363","https://openalex.org/W4391020565","https://openalex.org/W4392719125","https://openalex.org/W4401416304","https://openalex.org/W4402262118","https://openalex.org/W4405785034","https://openalex.org/W4405786385","https://openalex.org/W4409823824","https://openalex.org/W4413394622"],"related_works":[],"abstract_inverted_index":{"Control":[0],"Barrier":[1],"Functions":[2],"(CBFs)":[3],"have":[4],"emerged":[5],"as":[6],"an":[7,159],"effective":[8],"and":[9,139],"non-invasive":[10],"safety":[11,16,129],"filter":[12],"for":[13,71,125,131],"ensuring":[14],"the":[15,54,91,98,101,113,116,136,143,149],"of":[17,56,74,94,100,115,128,145,161],"autonomous":[18],"systems":[19],"in":[20,45,62,119,135,158],"dynamic":[21],"environments":[22,47],"with":[23,106],"formal":[24],"guarantees.":[25],"However,":[26],"most":[27],"existing":[28],"works":[29],"on":[30,34,42,163],"CBF":[31],"synthesis":[32,73],"focus":[33],"fully":[35],"known":[36],"settings.":[37],"Synthesizing":[38],"CBFs":[39,57,75,95,154],"online":[40,72],"based":[41],"perception":[43],"data":[44,60],"unknown":[46],"poses":[48],"particular":[49],"challenges.":[50],"Specifically,":[51,148],"this":[52],"requires":[53],"construction":[55],"from":[58,77],"high-dimensional":[59],"efficiently":[61],"real":[63],"time.":[64],"This":[65],"paper":[66],"proposes":[67],"a":[68,164],"new":[69],"approach":[70,123],"directly":[76],"local":[78],"Occupancy":[79],"Grid":[80],"Maps":[81],"(OGMs).":[82],"Inspired":[83],"by":[84],"steady-state":[85,102],"thermal":[86],"fields,":[87],"we":[88],"show":[89,151],"that":[90,152],"smoothness":[92],"requirement":[93],"corresponds":[96],"to":[97],"solution":[99],"heat":[103],"conduction":[104],"equation":[105],"suitably":[107],"chosen":[108],"boundary":[109],"conditions.":[110],"By":[111],"leveraging":[112],"sparsity":[114],"coefficient":[117],"matrix":[118],"Laplace\u2019s":[120],"equation,":[121],"our":[122,146,153],"allows":[124],"efficient":[126],"computation":[127],"values":[130],"each":[132],"grid":[133,166],"cell":[134],"map.":[137],"Simulation":[138],"real-world":[140],"experiments":[141],"demonstrate":[142],"effectiveness":[144],"approach.":[147],"results":[150],"can":[155],"be":[156],"synthesized":[157],"average":[160],"milliseconds":[162],"200\u00d7200":[165],"map,":[167],"highlighting":[168],"its":[169],"real-time":[170],"applicability.":[171]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}