{"id":"https://openalex.org/W2914003710","doi":"https://doi.org/10.1109/lra.2019.2895125","title":"Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems","display_name":"Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems","publication_year":2019,"publication_date":"2019-01-24","ids":{"openalex":"https://openalex.org/W2914003710","doi":"https://doi.org/10.1109/lra.2019.2895125","mag":"2914003710"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2895125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2895125","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation 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/A5101832839","display_name":"Paul Glotfelter","orcid":"https://orcid.org/0000-0003-3054-8352"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Paul Glotfelter","raw_affiliation_strings":["Georgia Institute of Technology, Institute for Robotics and Intelligent Machines, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Institute for Robotics and Intelligent Machines, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088427849","display_name":"Ian Buckley","orcid":"https://orcid.org/0000-0002-2640-4973"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Buckley","raw_affiliation_strings":["Georgia Institute of Technology, Institute for Robotics and Intelligent Machines, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Institute for Robotics and Intelligent Machines, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["Georgia Institute of Technology, Institute for Robotics and Intelligent Machines, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Institute for Robotics and Intelligent Machines, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101832839"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":3.5765,"has_fulltext":false,"cited_by_count":89,"citation_normalized_percentile":{"value":0.94395611,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"4","issue":"2","first_page":"1303","last_page":"1310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7733128070831299},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6743119359016418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6073391437530518},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5810217261314392},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.551506519317627},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.5201449990272522},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5036680102348328},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.45177099108695984},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.43580397963523865},{"id":"https://openalex.org/keywords/constraint-satisfaction-problem","display_name":"Constraint satisfaction problem","score":0.41975945234298706},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.41627469658851624},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.39775359630584717},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3343542218208313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20731890201568604},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19216880202293396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17260873317718506}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7733128070831299},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6743119359016418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6073391437530518},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5810217261314392},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.551506519317627},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.5201449990272522},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5036680102348328},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.45177099108695984},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.43580397963523865},{"id":"https://openalex.org/C199622910","wikidata":"https://www.wikidata.org/wiki/Q1128326","display_name":"Constraint satisfaction problem","level":3,"score":0.41975945234298706},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.41627469658851624},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.39775359630584717},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3343542218208313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20731890201568604},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19216880202293396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17260873317718506},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2895125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2895125","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1864235933","display_name":null,"funder_award_id":"1531195","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1551360398","https://openalex.org/W1607353007","https://openalex.org/W1980569135","https://openalex.org/W2048723778","https://openalex.org/W2074464158","https://openalex.org/W2093035596","https://openalex.org/W2110144538","https://openalex.org/W2118741873","https://openalex.org/W2127617835","https://openalex.org/W2139656224","https://openalex.org/W2148993855","https://openalex.org/W2150066425","https://openalex.org/W2154414031","https://openalex.org/W2158048639","https://openalex.org/W2468433498","https://openalex.org/W2591921113","https://openalex.org/W2604410735","https://openalex.org/W2620840602","https://openalex.org/W2765203865","https://openalex.org/W2841721725","https://openalex.org/W2898971174","https://openalex.org/W2951930445","https://openalex.org/W2964138223","https://openalex.org/W2964239424","https://openalex.org/W6719963912","https://openalex.org/W6755686700"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2975575631","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"Robots":[0],"are":[1,66],"entering":[2],"an":[3,124],"age":[4],"of":[5,18,36,94,131,148,176],"ubiquity,":[6],"and":[7,56,81,88,122,164,183],"to":[8,42,138],"operate":[9],"effectively,":[10],"these":[11],"systems":[12],"must":[13],"typically":[14],"satisfy":[15],"a":[16,43,48,60,69,79,92,104,119,145,156,161,168,180,189],"series":[17],"constraints":[19,55,117],"(e.g.,":[20,118],"collision":[21],"avoidance,":[22],"obeying":[23],"speed":[24],"limits,":[25],"maintaining":[26],"connectivity).":[27],"In":[28,144],"addition,":[29],"modern":[30],"applications":[31],"hinge":[32],"on":[33,179],"the":[34,82,127,149,174],"completion":[35],"particular":[37],"tasks,":[38],"such":[39],"as":[40,78,101,103],"driving":[41],"certain":[44],"location":[45],"or":[46],"monitoring":[47],"crop":[49],"patch.":[50],"The":[51],"dichotomy":[52],"between":[53],"satisfying":[54],"completing":[57],"objectives":[58],"creates":[59],"need":[61],"for":[62,85,97],"constraint-satisfaction":[63],"frameworks":[64],"that":[65],"composable":[67,83,105],"with":[68,142,167],"pre-existing":[70],"primary":[71],"objective.":[72],"Barrier":[73],"functions":[74,100,137,141],"have":[75],"recently":[76],"emerged":[77],"practical":[80,146],"method":[84],"constraint":[86],"satisfaction,":[87],"prior":[89,110],"results":[90,172],"demonstrate":[91],"system":[93],"Boolean":[95],"logic":[96],"nonsmooth":[98,135],"barrier":[99,136,140],"well":[102],"controller-synthesis":[106],"framework;":[107],"however,":[108],"this":[109,132,153,177],"work":[111],"does":[112],"not":[113],"consider":[114],"dynamically":[115],"changing":[116],"robot":[120,187],"sensing":[121],"avoiding":[123],"obstacle).":[125],"Consequently,":[126],"main":[128,151],"theoretical":[129,150],"contribution":[130],"letter":[133,154],"extends":[134],"time-varying":[139],"jumps.":[143],"instantiation":[147],"results,":[152],"revisits":[155],"classic":[157],"problem":[158],"by":[159],"formulating":[160],"collision-avoidance":[162],"framework":[163,178],"composing":[165],"it":[166],"nominal":[169],"controller.":[170],"Experimental":[171],"show":[173],"efficacy":[175],"light":[181],"detection":[182],"ranging":[184],"(LIDAR)-equipped":[185],"differential-drive":[186],"in":[188],"real-time":[190],"obstacle-avoidance":[191],"scenario.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":24},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
