{"id":"https://openalex.org/W4389403307","doi":"https://doi.org/10.1109/lcsys.2023.3339719","title":"Composing Control Barrier Functions for Complex Safety Specifications","display_name":"Composing Control Barrier Functions for Complex Safety Specifications","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4389403307","doi":"https://doi.org/10.1109/lcsys.2023.3339719"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3339719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3339719","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/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":true,"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":"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":["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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5018353703"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":8.4939,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.98186356,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"3615","last_page":"3620"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9968000054359436,"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":0.9968000054359436,"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":0.974399983882904,"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":0.9595000147819519,"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/differentiable-function","display_name":"Differentiable function","score":0.6757290363311768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6432391405105591},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6118241548538208},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.46547549962997437},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4366680383682251},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3721858263015747},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.338774710893631},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3128034472465515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20655936002731323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11799538135528564}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6757290363311768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6432391405105591},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6118241548538208},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.46547549962997437},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4366680383682251},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3721858263015747},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.338774710893631},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3128034472465515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20655936002731323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11799538135528564},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2023.3339719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3339719","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":19,"referenced_works":["https://openalex.org/W2560504659","https://openalex.org/W2563129138","https://openalex.org/W2620840602","https://openalex.org/W2765203865","https://openalex.org/W2841721725","https://openalex.org/W2887154784","https://openalex.org/W2945541231","https://openalex.org/W2964239424","https://openalex.org/W2967837056","https://openalex.org/W3092675428","https://openalex.org/W3094947075","https://openalex.org/W4205749794","https://openalex.org/W4250589301","https://openalex.org/W4296555319","https://openalex.org/W4315488755","https://openalex.org/W4382203285","https://openalex.org/W4382936289","https://openalex.org/W6719963912","https://openalex.org/W6843491844"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W2348722996","https://openalex.org/W2334570605","https://openalex.org/W3181683615","https://openalex.org/W4286826125","https://openalex.org/W1633485514","https://openalex.org/W1980454230","https://openalex.org/W2300851791","https://openalex.org/W1604739066"],"abstract_inverted_index":{"The":[0,34],"increasing":[1],"complexity":[2],"of":[3,15,41,69],"control":[4,7,30],"systems":[5],"necessitates":[6],"laws":[8],"that":[9,57],"guarantee":[10],"safety":[11,27],"w.r.t.":[12],"complex":[13],"combinations":[14],"constraints.":[16],"In":[17],"this":[18],"letter,":[19],"we":[20,45,74],"propose":[21,46],"a":[22,52],"framework":[23],"to":[24,50],"describe":[25,66],"compositional":[26],"specifications":[28,35],"with":[29],"barrier":[31],"functions":[32],"(CBFs).":[33],"are":[36],"formulated":[37],"as":[38],"Boolean":[39],"compositions":[40],"state":[42],"constraints,":[43],"and":[44,61,73],"an":[47],"algorithmic":[48],"way":[49],"create":[51],"single":[53],"continuously":[54],"differentiable":[55],"CBF":[56],"captures":[58],"these":[59],"constraints":[60],"enables":[62],"safety-critical":[63],"control.":[64],"We":[65],"the":[67,70],"properties":[68],"proposed":[71],"CBF,":[72],"demonstrate":[75],"its":[76],"efficacy":[77],"by":[78],"numerical":[79],"simulations.":[80]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":8}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}