{"id":"https://openalex.org/W4380303637","doi":"https://doi.org/10.1109/lcsys.2023.3285188","title":"Parameterized Barrier Functions to Guarantee Safety Under Uncertainty","display_name":"Parameterized Barrier Functions to Guarantee Safety Under Uncertainty","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4380303637","doi":"https://doi.org/10.1109/lcsys.2023.3285188"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3285188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3285188","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5034352210","display_name":"An\u0131l Alan","orcid":"https://orcid.org/0000-0003-3801-7353"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anil Alan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018353703","display_name":"Tam\u00e1s G. Moln\u00e1r","orcid":"https://orcid.org/0000-0002-9379-7121"},"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":"Tamas G. Molnar","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"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/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":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"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/A5043415749","display_name":"G\u00e1bor Orosz","orcid":"https://orcid.org/0000-0002-9000-3736"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G\u00e1bor Orosz","raw_affiliation_strings":["Department of Mechanical Engineering and the Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA","Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034352210"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":4.8407,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.95953973,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"2077","last_page":"2082"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9988999962806702,"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":0.9988999962806702,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9977999925613403,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9939000010490417,"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/robustification","display_name":"Robustification","score":0.8473899364471436},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.713442325592041},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.697879433631897},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.6745154857635498},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6137385368347168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.603756844997406},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4649689495563507},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4387281537055969},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24071863293647766},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10652351379394531},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10235989093780518},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.0662308931350708}],"concepts":[{"id":"https://openalex.org/C2778584072","wikidata":"https://www.wikidata.org/wiki/Q7353545","display_name":"Robustification","level":3,"score":0.8473899364471436},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.713442325592041},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.697879433631897},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.6745154857635498},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6137385368347168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.603756844997406},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4649689495563507},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4387281537055969},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24071863293647766},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10652351379394531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10235989093780518},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0662308931350708},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2023.3285188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3285188","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G314058022","display_name":null,"funder_award_id":"1932091","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1880805667","https://openalex.org/W2105164082","https://openalex.org/W2165626406","https://openalex.org/W2560504659","https://openalex.org/W2789826932","https://openalex.org/W2887154784","https://openalex.org/W2945541231","https://openalex.org/W2991303041","https://openalex.org/W2991966309","https://openalex.org/W2996196387","https://openalex.org/W3046925685","https://openalex.org/W3090132180","https://openalex.org/W3102238624","https://openalex.org/W3109723275","https://openalex.org/W3153755872","https://openalex.org/W3155061166","https://openalex.org/W3157612904","https://openalex.org/W3166543246","https://openalex.org/W3170270116","https://openalex.org/W3186304270","https://openalex.org/W3198546120","https://openalex.org/W4225515500","https://openalex.org/W4226026450","https://openalex.org/W4285282961","https://openalex.org/W4287185641","https://openalex.org/W4292249799","https://openalex.org/W4311553407","https://openalex.org/W4312581147","https://openalex.org/W4315472218","https://openalex.org/W4315630666","https://openalex.org/W4382203285","https://openalex.org/W4388918562","https://openalex.org/W6772100842","https://openalex.org/W6811052944","https://openalex.org/W6838668348","https://openalex.org/W6846723619","https://openalex.org/W6847437999"],"related_works":["https://openalex.org/W3174019841","https://openalex.org/W4378465431","https://openalex.org/W1479938842","https://openalex.org/W4296229079","https://openalex.org/W2064715984","https://openalex.org/W2045049461","https://openalex.org/W1978893398","https://openalex.org/W2201908702","https://openalex.org/W4381094582","https://openalex.org/W2051834255"],"abstract_inverted_index":{"Deploying":[0],"safety-critical":[1],"controllers":[2,93],"in":[3,11,41,45],"practice":[4,42],"necessitates":[5],"the":[6,35,57,60,104,108,124],"ability":[7],"to":[8,27,92,135],"modulate":[9],"uncertainties":[10],"control":[12,18],"systems.":[13,33],"In":[14],"this":[15,111],"context,":[16],"robust":[17,96],"barrier":[19,76],"functions\u2014in":[20],"a":[21,46,51,65,72,84,120],"variety":[22,52],"of":[23,38,49,53,59,87,110,123],"forms\u2014have":[24],"been":[25],"used":[26],"obtain":[28],"safety":[29,81,97,117,129],"guarantees":[30,82,98,130],"for":[31,67,83],"uncertain":[32],"Yet":[34],"differing":[36],"types":[37],"uncertainty":[39,88],"experienced":[40],"have":[43],"resulted":[44],"fractured":[47],"landscape":[48],"robustification\u2014with":[50],"instantiations":[54],"depending":[55],"on":[56],"structure":[58],"uncertainty.":[61],"This":[62,90],"paper":[63],"proposes":[64],"framework":[66],"generalizing":[68],"these":[69],"variations":[70],"into":[71],"single":[73],"form:":[74],"parameterized":[75],"functions":[77],"(PBFs),":[78],"which":[79],"yield":[80],"wide":[85],"spectrum":[86],"types.":[89],"leads":[91],"that":[94,115],"enforce":[95],"while":[99],"their":[100],"conservativeness":[101],"scales":[102],"by":[103],"parameterization.":[105],"To":[106],"illustrate":[107],"generality":[109],"approach,":[112],"we":[113],"show":[114],"input-to-state":[116],"(ISSf)":[118],"is":[119],"special":[121],"case":[122],"PBF":[125],"framework,":[126],"whereby":[127],"improved":[128],"can":[131],"be":[132],"given":[133],"relative":[134],"ISSf.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}