{"id":"https://openalex.org/W4416965724","doi":"https://doi.org/10.1109/lcsys.2025.3640191","title":"Combinatorial Control Barrier Functions: Nested Boolean and <i>p</i> -Choose- <i>r</i> Compositions of Safety Constraints","display_name":"Combinatorial Control Barrier Functions: Nested Boolean and <i>p</i> -Choose- <i>r</i> Compositions of Safety Constraints","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4416965724","doi":"https://doi.org/10.1109/lcsys.2025.3640191"},"language":null,"primary_location":{"id":"doi:10.1109/lcsys.2025.3640191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3640191","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/A5086848492","display_name":"Pio Ong","orcid":"https://orcid.org/0000-0002-9665-1320"},"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":"Pio Ong","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9665-1320","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/A5111203221","display_name":"H.P. Lee","orcid":"https://orcid.org/0009-0001-1330-5087"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haejoon Lee","raw_affiliation_strings":["Department of Robotics, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0009-0001-1330-5087","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, 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/I39587148","display_name":"Wichita State University","ror":"https://ror.org/00c4e7y75","country_code":"US","type":"education","lineage":["https://openalex.org/I39587148"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tamas G. Molnar","raw_affiliation_strings":["Department of Mechanical Engineering, Wichita State University, Wichita, KS, USA"],"raw_orcid":"https://orcid.org/0000-0002-9379-7121","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Wichita State University, Wichita, KS, USA","institution_ids":["https://openalex.org/I39587148"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059647993","display_name":"Dimitra Panagou","orcid":"https://orcid.org/0000-0002-4547-167X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimitra Panagou","raw_affiliation_strings":["Department of Robotics, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4547-167X","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan at Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"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"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","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":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34600422,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"2705","last_page":"2710"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.7416999936103821,"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":0.7416999936103821,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.05000000074505806,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10621","display_name":"Gene Regulatory Network Analysis","score":0.03660000115633011,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5048999786376953},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.49470001459121704},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.3968999981880188},{"id":"https://openalex.org/keywords/combinatorial-explosion","display_name":"Combinatorial explosion","score":0.3903000056743622},{"id":"https://openalex.org/keywords/boolean-function","display_name":"Boolean function","score":0.38499999046325684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38040000200271606},{"id":"https://openalex.org/keywords/disjunctive-normal-form","display_name":"Disjunctive normal form","score":0.3352999985218048},{"id":"https://openalex.org/keywords/combinatorial-design","display_name":"Combinatorial design","score":0.3280999958515167}],"concepts":[{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5048999786376953},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.49470001459121704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48539999127388},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4399999976158142},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4009000062942505},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C115908005","wikidata":"https://www.wikidata.org/wiki/Q2668364","display_name":"Combinatorial explosion","level":2,"score":0.3903000056743622},{"id":"https://openalex.org/C187455244","wikidata":"https://www.wikidata.org/wiki/Q942353","display_name":"Boolean function","level":2,"score":0.38499999046325684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38040000200271606},{"id":"https://openalex.org/C136726353","wikidata":"https://www.wikidata.org/wiki/Q903789","display_name":"Disjunctive normal form","level":2,"score":0.3352999985218048},{"id":"https://openalex.org/C122451846","wikidata":"https://www.wikidata.org/wiki/Q5150824","display_name":"Combinatorial design","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.31119999289512634},{"id":"https://openalex.org/C200415742","wikidata":"https://www.wikidata.org/wiki/Q1350285","display_name":"True quantified Boolean formula","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C163561899","wikidata":"https://www.wikidata.org/wiki/Q1994977","display_name":"Logical matrix","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C2779521423","wikidata":"https://www.wikidata.org/wiki/Q3855646","display_name":"Combinatorial method","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C153046414","wikidata":"https://www.wikidata.org/wiki/Q12482","display_name":"Set theory","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.25839999318122864},{"id":"https://openalex.org/C1306188","wikidata":"https://www.wikidata.org/wiki/Q4060687","display_name":"Nested loop join","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C52692508","wikidata":"https://www.wikidata.org/wiki/Q1333872","display_name":"Combinatorial optimization","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C17349429","wikidata":"https://www.wikidata.org/wiki/Q1049914","display_name":"Matrix multiplication","level":3,"score":0.2513999938964844},{"id":"https://openalex.org/C16221470","wikidata":"https://www.wikidata.org/wiki/Q846564","display_name":"Conjunctive normal form","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2025.3640191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3640191","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/G2286847197","display_name":null,"funder_award_id":"113535-19668","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"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/W2945541231","https://openalex.org/W2964239424","https://openalex.org/W2968945909","https://openalex.org/W4315488755","https://openalex.org/W4382936289","https://openalex.org/W4389403307","https://openalex.org/W4391021926","https://openalex.org/W4405971136","https://openalex.org/W4408564918","https://openalex.org/W4411725250","https://openalex.org/W4413925020","https://openalex.org/W4413945069","https://openalex.org/W4414116955"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,45,52,72,81],"problem":[4,104],"of":[5,47,54,84],"composing":[6],"multiple":[7],"control":[8,13],"barrier":[9,14],"functions":[10,15],"(CBFs)\u2014and":[11],"matrix":[12],"(MCBFs)\u2014through":[16],"logical":[17,35,48],"and":[18,32,39,62,96],"combinatorial":[19,42,55],"operations.":[20],"Standard":[21],"CBF":[22],"formulations":[23],"naturally":[24],"enable":[25],"conjunctive":[26],"(AND)":[27],"combinations,":[28],"but":[29],"disjunctive":[30],"(OR)":[31],"more":[33],"general":[34],"structures":[36],"introduce":[37,51],"nonsmoothness":[38],"possibly":[40],"a":[41,77,102,106],"blow-up":[43],"in":[44,76,105],"number":[46,83],"combinations.":[49],"We":[50,87],"framework":[53,68],"CBFs":[56],"that":[57],"addresses":[58],"p-choose-r":[59],"safety":[60,70,92],"specifications":[61],"their":[63,99],"nested":[64],"composition.":[65],"The":[66],"proposed":[67],"ensures":[69],"for":[71],"exact":[73],"safe":[74],"set":[75],"scalable":[78],"way,":[79],"using":[80],"original":[82],"primitive":[85],"constraints.":[86],"establish":[88],"theoretical":[89],"guarantees":[90],"on":[91,101],"under":[93],"these":[94],"compositions,":[95],"we":[97],"demonstrate":[98],"use":[100],"patrolling":[103],"multi-agent":[107],"system.":[108]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-03T00:00:00"}