{"id":"https://openalex.org/W4366457166","doi":"https://doi.org/10.1109/lra.2023.3295654","title":"Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions","display_name":"Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions","publication_year":2023,"publication_date":"2023-09-01","ids":{"openalex":"https://openalex.org/W4366457166","doi":"https://doi.org/10.1109/lra.2023.3295654"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3295654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3295654","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2304.08586","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012067336","display_name":"Bolun Dai","orcid":"https://orcid.org/0000-0002-7590-7980"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bolun Dai","raw_affiliation_strings":["Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081199419","display_name":"Rooholla Khorrambakht","orcid":"https://orcid.org/0000-0002-4270-5813"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rooholla Khorrambakht","raw_affiliation_strings":["Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054769060","display_name":"P. Krishnamurthy","orcid":"https://orcid.org/0000-0001-8264-7972"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prashanth Krishnamurthy","raw_affiliation_strings":["Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058748885","display_name":"Vin\u00edcius Mariano Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-9730-6190"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vin\u00edcius Gon\u00e7alves","raw_affiliation_strings":["Electrical Engineering, New York University, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, New York University, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048765370","display_name":"Anthony Tzes","orcid":"https://orcid.org/0000-0003-3709-2810"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Tzes","raw_affiliation_strings":["Electrical Engineering, New York University, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering, New York University, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082413942","display_name":"Farshad Khorrami","orcid":"https://orcid.org/0000-0002-8418-004X"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Farshad Khorrami","raw_affiliation_strings":["Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Control/Robotics Research Laboratory, Electrical and Computer Engineering Department, Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5012067336"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":4.0624,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.95303038,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"8","issue":"9","first_page":"5376","last_page":"5383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9984999895095825,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8089425563812256},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6827644109725952},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6509218215942383},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6403028964996338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6254184246063232},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6111456155776978},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5307721495628357},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.48375892639160156},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45865723490715027},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4082857668399811},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3729250431060791},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3542897403240204},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28231966495513916},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22882577776908875},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.21932655572891235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21490824222564697},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13300028443336487},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.08524215221405029}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.8089425563812256},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6827644109725952},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6509218215942383},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6403028964996338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6254184246063232},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6111456155776978},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5307721495628357},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.48375892639160156},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45865723490715027},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4082857668399811},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3729250431060791},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3542897403240204},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28231966495513916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22882577776908875},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.21932655572891235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21490824222564697},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13300028443336487},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.08524215221405029},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3295654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3295654","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"},{"id":"pmh:oai:arXiv.org:2304.08586","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2304.08586","pdf_url":"https://arxiv.org/pdf/2304.08586","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2304.08586","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2304.08586","pdf_url":"https://arxiv.org/pdf/2304.08586","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2336632164","display_name":null,"funder_award_id":"CG010","funder_id":"https://openalex.org/F5748446266","funder_display_name":"Research Institute Centers, New York University Abu Dhabi"}],"funders":[{"id":"https://openalex.org/F5748446266","display_name":"Research Institute Centers, New York University Abu Dhabi","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4366457166.pdf","grobid_xml":"https://content.openalex.org/works/W4366457166.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W141244604","https://openalex.org/W2131286638","https://openalex.org/W2142224528","https://openalex.org/W2151135593","https://openalex.org/W2166316739","https://openalex.org/W2569839618","https://openalex.org/W2968945909","https://openalex.org/W2981603589","https://openalex.org/W3119862069","https://openalex.org/W3168217419","https://openalex.org/W3184909694","https://openalex.org/W3185369895","https://openalex.org/W4206058163","https://openalex.org/W4285102592","https://openalex.org/W4285119237","https://openalex.org/W4286375138","https://openalex.org/W4301496368","https://openalex.org/W4315489117","https://openalex.org/W4382045796","https://openalex.org/W4382936004","https://openalex.org/W4383108947"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Control":[0],"barrier":[1,17],"functions":[2,18],"(CBFs)":[3],"have":[4],"been":[5],"widely":[6],"applied":[7],"to":[8,36,53,77],"safety-critical":[9],"robotic":[10,20,124],"applications.":[11],"However,":[12],"the":[13,38,56,59,91,97,103,110,139],"construction":[14],"of":[15,58,90,96],"control":[16,113],"for":[19,82,122],"systems":[21],"remains":[22],"a":[23,34,67,80,132],"challenging":[24],"task.":[25],"Recently,":[26],"collision":[27],"detection":[28],"using":[29,131],"differentiable":[30],"optimization":[31],"has":[32],"provided":[33],"way":[35],"compute":[37,55],"minimum":[39],"uniform":[40],"scaling":[41,60,72],"factor":[42],"that":[43,69,109],"results":[44],"in":[45,147],"an":[46,75],"intersection":[47],"between":[48],"two":[49],"convex":[50],"shapes":[51],"and":[52,93,107,149],"also":[54],"Jacobian":[57],"factor.":[61],"In":[62],"this":[63,71],"letter,":[64],"we":[65],"propose":[66],"framework":[68],"uses":[70],"factor,":[73],"with":[74],"offset,":[76],"systematically":[78],"define":[79],"CBF":[81],"obstacle":[83],"avoidance":[84],"tasks.":[85],"We":[86,100,126],"provide":[87],"theoretical":[88],"analyses":[89],"continuity":[92],"continuous":[94],"differentiability":[95],"proposed":[98,104],"CBF.":[99],"empirically":[101],"evaluate":[102],"CBF's":[105],"behavior":[106],"show":[108],"resulting":[111],"optimal":[112],"problem":[114],"is":[115],"computationally":[116],"efficient,":[117],"which":[118],"makes":[119],"it":[120],"applicable":[121],"real-time":[123],"control.":[125],"validate":[127],"our":[128],"approach,":[129],"first":[130],"2D":[133],"mobile":[134],"robot":[135,144],"example,":[136],"then":[137],"on":[138],"Franka-Emika":[140],"Research":[141],"3":[142],"(FR3)":[143],"manipulator":[145],"both":[146],"simulation":[148],"experiment.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2023-04-22T00:00:00"}