{"id":"https://openalex.org/W7117239935","doi":"https://doi.org/10.1109/lcsys.2025.3648436","title":"From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints","display_name":"From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7117239935","doi":"https://doi.org/10.1109/lcsys.2025.3648436"},"language":null,"primary_location":{"id":"doi:10.1109/lcsys.2025.3648436","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3648436","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2601.12885","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003664186","display_name":"Shima Sadat Mousavi","orcid":"https://orcid.org/0000-0002-6932-3073"},"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":"Shima Sadat Mousavi","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6932-3073","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/A5114367729","display_name":"Xiao Tan","orcid":null},"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":"Xiao Tan","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6012-2761","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"],"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":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6303695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"3011","last_page":"3016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.38659998774528503,"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":0.38659998774528503,"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":0.14869999885559082,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.11330000311136246,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.76419997215271},{"id":"https://openalex.org/keywords/compatibility","display_name":"Compatibility (geochemistry)","score":0.6643000245094299},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5156999826431274},{"id":"https://openalex.org/keywords/convex-combination","display_name":"Convex combination","score":0.4894999861717224},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4787999987602234},{"id":"https://openalex.org/keywords/convex-function","display_name":"Convex function","score":0.4699999988079071},{"id":"https://openalex.org/keywords/convex-analysis","display_name":"Convex analysis","score":0.4575999975204468},{"id":"https://openalex.org/keywords/proper-convex-function","display_name":"Proper convex function","score":0.4496999979019165}],"concepts":[{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.76419997215271},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.6643000245094299},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5774999856948853},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5156999826431274},{"id":"https://openalex.org/C111110010","wikidata":"https://www.wikidata.org/wiki/Q2627315","display_name":"Convex combination","level":4,"score":0.4894999861717224},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4787999987602234},{"id":"https://openalex.org/C145446738","wikidata":"https://www.wikidata.org/wiki/Q319913","display_name":"Convex function","level":3,"score":0.4699999988079071},{"id":"https://openalex.org/C12108790","wikidata":"https://www.wikidata.org/wiki/Q2234833","display_name":"Convex analysis","level":4,"score":0.4575999975204468},{"id":"https://openalex.org/C50862404","wikidata":"https://www.wikidata.org/wiki/Q3075259","display_name":"Proper convex function","level":5,"score":0.4496999979019165},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.41600000858306885},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.4065999984741211},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39169999957084656},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.3799999952316284},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.3287999927997589},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.32420000433921814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3192000091075897},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30399999022483826},{"id":"https://openalex.org/C191252586","wikidata":"https://www.wikidata.org/wiki/Q1671453","display_name":"Interval arithmetic","level":3,"score":0.2847999930381775},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2825999855995178},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C200661725","wikidata":"https://www.wikidata.org/wiki/Q289500","display_name":"Subderivative","level":4,"score":0.2791000008583069},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.2720000147819519},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.2554999887943268}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2025.3648436","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3648436","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"},{"id":"pmh:oai:arXiv.org:2601.12885","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.12885","pdf_url":"https://arxiv.org/pdf/2601.12885","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2601.12885","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.12885","pdf_url":"https://arxiv.org/pdf/2601.12885","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1973734421","https://openalex.org/W2115922137","https://openalex.org/W2396495043","https://openalex.org/W2489231587","https://openalex.org/W2968945909","https://openalex.org/W3206495240","https://openalex.org/W4210279164","https://openalex.org/W4250589301","https://openalex.org/W4315488755","https://openalex.org/W4388903135","https://openalex.org/W4388918424","https://openalex.org/W4393305345","https://openalex.org/W4399469378","https://openalex.org/W4413392710"],"related_works":[],"abstract_inverted_index":{"This":[0,89],"paper":[1],"develops":[2],"certificates":[3],"that":[4],"propagate":[5],"compatibility":[6],"of":[7,96],"multiple":[8],"control":[9],"barrier":[10],"function":[11],"(CBF)":[12],"constraints":[13],"from":[14],"sampled":[15],"vertices":[16],"to":[17],"their":[18],"convex":[19,39,52,94],"hull.":[20],"Under":[21],"mild":[22],"concavity":[23],"and":[24],"affinity":[25],"assumptions,":[26],"we":[27,74],"present":[28],"three":[29],"sufficient":[30],"feasibility":[31],"conditions":[32,76],"under":[33,77],"which":[34,78],"feasible":[35],"inputs":[36],"over":[37],"the":[38,57,79,87,102],"hull":[40],"can":[41],"be":[42],"obtained":[43],"per":[44],"coordinate,":[45],"with":[46],"a":[47],"common":[48],"input,":[49],"or":[50,65],"via":[51,93],"blending.":[53],"We":[54],"also":[55],"describe":[56],"associated":[58],"computational":[59],"methods,":[60],"based":[61],"on":[62],"interval":[63],"intersections":[64],"an":[66],"offline":[67],"linear":[68],"program":[69],"(LP).":[70],"Beyond":[71],"certifying":[72],"compatibility,":[73],"give":[75],"quadratic-program":[80],"(QP)":[81],"safety":[82],"filter":[83],"is":[84],"affine":[85],"in":[86],"state.":[88],"enables":[90],"explicit":[91],"implementations":[92],"combinations":[95],"vertex-feasible":[97],"inputs.":[98],"Case":[99],"studies":[100],"illustrate":[101],"results.":[103]},"counts_by_year":[],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-12-25T00:00:00"}
