{"id":"https://openalex.org/W3199400169","doi":"https://doi.org/10.1109/lra.2021.3135569","title":"Model-Free Safety-Critical Control for Robotic Systems","display_name":"Model-Free Safety-Critical Control for Robotic Systems","publication_year":2021,"publication_date":"2021-12-15","ids":{"openalex":"https://openalex.org/W3199400169","doi":"https://doi.org/10.1109/lra.2021.3135569","mag":"3199400169"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3135569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3135569","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.09047","any_repository_has_fulltext":true},"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":false,"raw_author_name":"Tamas G. Molnar","raw_affiliation_strings":["Control and Dynamical Systems and the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9379-7121","affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems and the 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/A5034165188","display_name":"Ryan K. Cosner","orcid":"https://orcid.org/0000-0002-4035-1425"},"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":"Ryan K. Cosner","raw_affiliation_strings":["Control and Dynamical Systems and the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4035-1425","affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems and the 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/A5005041153","display_name":"Andrew Singletary","orcid":"https://orcid.org/0000-0001-6635-4256"},"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":"Andrew W. Singletary","raw_affiliation_strings":["Control and Dynamical Systems and the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6635-4256","affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems and the 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/A5044985505","display_name":"Wyatt Ubellacker","orcid":"https://orcid.org/0000-0002-4732-6185"},"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":"Wyatt Ubellacker","raw_affiliation_strings":["Control and Dynamical Systems and the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4732-6185","affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems and the 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":["Control and Dynamical Systems and the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems and the Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","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":0.3961,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65265917,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"7","issue":"2","first_page":"944","last_page":"951"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9958000183105469,"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":0.9958000183105469,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.995199978351593,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9936000108718872,"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/fidelity","display_name":"Fidelity","score":0.6448888778686523},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6432561874389648},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.6056022644042969},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6013333797454834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5990051031112671},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5831038951873779},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5605815649032593},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5095517635345459},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46809151768684387},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4631933569908142},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4025019705295563},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38982778787612915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21691182255744934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1805570423603058},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15535107254981995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15204885601997375}],"concepts":[{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.6448888778686523},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6432561874389648},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.6056022644042969},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6013333797454834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5990051031112671},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5831038951873779},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5605815649032593},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5095517635345459},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46809151768684387},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4631933569908142},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4025019705295563},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38982778787612915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21691182255744934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1805570423603058},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15535107254981995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15204885601997375},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2021.3135569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3135569","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:arXiv.org:2109.09047","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.09047","pdf_url":"https://arxiv.org/pdf/2109.09047","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"},{"id":"mag:3199400169","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2109.09047.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:authors.library.caltech.edu:112798","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/112798/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"doi:10.48550/arxiv.2109.09047","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2109.09047","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.09047","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.09047","pdf_url":"https://arxiv.org/pdf/2109.09047","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":[{"id":"https://openalex.org/G2937045143","display_name":null,"funder_award_id":"1932091","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W55814457","https://openalex.org/W153294671","https://openalex.org/W1498760136","https://openalex.org/W1509235676","https://openalex.org/W1545775168","https://openalex.org/W1980569135","https://openalex.org/W1993693205","https://openalex.org/W2157822824","https://openalex.org/W2171879251","https://openalex.org/W2296319761","https://openalex.org/W2560504659","https://openalex.org/W2612914963","https://openalex.org/W2789826932","https://openalex.org/W2886821123","https://openalex.org/W2887154784","https://openalex.org/W2925329277","https://openalex.org/W2964138223","https://openalex.org/W3003747652","https://openalex.org/W3007985585","https://openalex.org/W3023466262","https://openalex.org/W3081975785","https://openalex.org/W3094058178","https://openalex.org/W3094402048","https://openalex.org/W3094947075","https://openalex.org/W3098925401","https://openalex.org/W3109826327","https://openalex.org/W3120308226","https://openalex.org/W3147461353","https://openalex.org/W3157184134","https://openalex.org/W3173314523","https://openalex.org/W3184832484","https://openalex.org/W3186522732","https://openalex.org/W3196118096","https://openalex.org/W4210330528","https://openalex.org/W4250589301","https://openalex.org/W6793728789","https://openalex.org/W6798650984"],"related_works":["https://openalex.org/W2559197944","https://openalex.org/W3185346133","https://openalex.org/W2491042601","https://openalex.org/W1966230304","https://openalex.org/W3040629209","https://openalex.org/W2906278831","https://openalex.org/W3090615456","https://openalex.org/W2765978714","https://openalex.org/W2037333043","https://openalex.org/W2890270794","https://openalex.org/W3207637958","https://openalex.org/W2177083214","https://openalex.org/W2890824726","https://openalex.org/W3003705120","https://openalex.org/W2184472120","https://openalex.org/W2415165331","https://openalex.org/W3081176297","https://openalex.org/W3002931353","https://openalex.org/W3038740010","https://openalex.org/W3036036610"],"abstract_inverted_index":{"This":[0,61],"letter":[1],"presents":[2],"a":[3,28,40,58,91,100,103],"framework":[4],"for":[5,72],"the":[6,20,49,54,73],"safety-critical":[7],"control":[8,33],"of":[9,48],"robotic":[10],"systems,":[11],"when":[12],"safety":[13,64,70],"is":[14,82],"defined":[15],"on":[16,32,39],"safe":[17,29,55],"regions":[18],"in":[19,93,105],"configuration":[21],"space.":[22],"To":[23],"maintain":[24],"safety,":[25],"we":[26,52,77],"synthesize":[27],"velocity":[30,56],"based":[31],"barrier":[34],"function":[35],"theory":[36],"without":[37],"relying":[38],"–":[41,44],"potentially":[42],"complicated":[43],"high-fidelity":[45,94],"dynamical":[46],"model":[47],"robot.":[50],"Then,":[51],"track":[53],"with":[57,90,99],"tracking":[59],"controller.":[60],"culminates":[62],"inmodel-free":[63],"critical":[65],"control.":[66],"We":[67,84],"prove":[68],"theoretical":[69],"guarantees":[71],"proposed":[74],"method.":[75],"Finally,":[76],"demonstrate":[78],"that":[79],"this":[80],"approach":[81],"application-agnostic.":[83],"execute":[85],"an":[86],"obstacle":[87],"avoidance":[88],"task":[89],"Segway":[92],"simulation,":[95],"as":[96,98],"well":[97],"Drone":[101],"and":[102],"Quadruped":[104],"hardware":[106],"experiments.":[107]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}