{"id":"https://openalex.org/W4389317836","doi":"https://doi.org/10.1109/lra.2023.3339059","title":"LiDAR-Based Online Control Barrier Function Synthesis for Safe Navigation in Unknown Environments","display_name":"LiDAR-Based Online Control Barrier Function Synthesis for Safe Navigation in Unknown Environments","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4389317836","doi":"https://doi.org/10.1109/lra.2023.3339059"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3339059","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3339059","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10339852.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10339852.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045573669","display_name":"Shaghayegh Keyumarsi","orcid":"https://orcid.org/0000-0001-8437-6125"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Shaghayegh Keyumarsi","raw_affiliation_strings":["Automation and Mechanical Engineering Unit, Tampere University, Tampere, Finland"],"raw_orcid":"https://orcid.org/0000-0001-8437-6125","affiliations":[{"raw_affiliation_string":"Automation and Mechanical Engineering Unit, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042956240","display_name":"Made Widhi Surya Atman","orcid":"https://orcid.org/0000-0003-0929-2604"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Made Widhi Surya Atman","raw_affiliation_strings":["Automation and Mechanical Engineering Unit, Tampere University, Tampere, Finland"],"raw_orcid":"https://orcid.org/0000-0003-0929-2604","affiliations":[{"raw_affiliation_string":"Automation and Mechanical Engineering Unit, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009558758","display_name":"Azwirman Gusrialdi","orcid":"https://orcid.org/0000-0002-5659-1239"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Azwirman Gusrialdi","raw_affiliation_strings":["Automation and Mechanical Engineering Unit, Tampere University, Tampere, Finland"],"raw_orcid":"https://orcid.org/0000-0002-5659-1239","affiliations":[{"raw_affiliation_string":"Automation and Mechanical Engineering Unit, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5824,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91764062,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"2","first_page":"1043","last_page":"1050"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9959999918937683,"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":0.9959999918937683,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9911999702453613,"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/computer-science","display_name":"Computer science","score":0.6895259618759155},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6075908541679382},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5781839489936829},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5623081922531128},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5397781729698181},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5147387981414795},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4942793846130371},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4853576719760895},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4615611433982849},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4561734199523926},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35543158650398254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3374706506729126},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08475181460380554}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6895259618759155},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6075908541679382},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5781839489936829},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5623081922531128},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5397781729698181},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5147387981414795},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4942793846130371},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4853576719760895},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4615611433982849},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4561734199523926},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35543158650398254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3374706506729126},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08475181460380554},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3339059","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3339059","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10339852.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/207344","is_oa":true,"landing_page_url":"https://trepo.tuni.fi/handle/10024/207344","pdf_url":null,"source":{"id":"https://openalex.org/S7407055260","display_name":"Trepo - Institutional Repository of Tampere University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3339059","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3339059","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10339852.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389317836.pdf","grobid_xml":"https://content.openalex.org/works/W4389317836.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2490662969","https://openalex.org/W2560504659","https://openalex.org/W2563129138","https://openalex.org/W2914003710","https://openalex.org/W2968945909","https://openalex.org/W3003535010","https://openalex.org/W3119862069","https://openalex.org/W3131411499","https://openalex.org/W3145762295","https://openalex.org/W3171845842","https://openalex.org/W3195647294","https://openalex.org/W3199433392","https://openalex.org/W4205451316","https://openalex.org/W4205966556","https://openalex.org/W4211049957","https://openalex.org/W4225515500","https://openalex.org/W4295832199","https://openalex.org/W4312307243","https://openalex.org/W4315606134","https://openalex.org/W6754197312","https://openalex.org/W6772100842"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W1964041166","https://openalex.org/W4390887692","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,39,112],"novel":[4],"extension":[5],"of":[6,28,38,44,129],"the":[7,13,36,42,49,57,70,92,105,117,123,130],"Control":[8],"Barrier":[9],"Function":[10],"(CBF)":[11],"as":[12],"low-level":[14],"safety":[15,89,119],"controller":[16],"for":[17,48,56,134],"autonomous":[18],"mobile":[19],"robots":[20],"navigating":[21],"in":[22,31,61,100,136],"unknown":[23,63,137],"environments.":[24],"The":[25,127],"main":[26],"challenges":[27,82],"implementing":[29],"CBF":[30,113,132],"real-world":[32],"situations":[33],"arise":[34],"from":[35],"absence":[37],"model":[40],"or":[41],"lack":[43],"an":[45,62,85],"exact":[46],"one":[47],"environment.":[50],"Additionally,":[51],"online":[52,86],"learning":[53],"is":[54,97,114],"needed":[55],"robot":[58],"to":[59,67,107,121],"maneuver":[60],"environment":[64],"which":[65],"leads":[66],"dealing":[68],"with":[69],"sampled":[71],"data":[72,101],"set":[73],"size,":[74],"memory,":[75],"and":[76,103],"computational":[77],"complexity.":[78],"We":[79],"address":[80],"these":[81],"by":[83,141],"designing":[84],"non-parametric":[87],"Lidar-based":[88,131],"function":[90,120],"using":[91,116],"Gaussian":[93],"process":[94],"(GP).":[95],"It":[96],"both":[98],"efficient":[99],"size":[102],"eliminates":[104],"requirement":[106],"store":[108],"previous":[109],"data.":[110],"Then,":[111],"synthesized":[115],"proposed":[118],"rectify":[122],"safe":[124],"control":[125],"input.":[126],"effectiveness":[128],"synthesis":[133],"navigation":[135],"environments":[138],"was":[139],"validated":[140],"conducting":[142],"experiments":[143],"on":[144],"unicycle-type":[145],"robots.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
