{"id":"https://openalex.org/W4390591081","doi":"https://doi.org/10.1109/lra.2024.3349917","title":"Safe Control for Navigation in Cluttered Space Using Multiple Lyapunov-Based Control Barrier Functions","display_name":"Safe Control for Navigation in Cluttered Space Using Multiple Lyapunov-Based Control Barrier Functions","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390591081","doi":"https://doi.org/10.1109/lra.2024.3349917"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3349917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349917","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":["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/A5006359565","display_name":"Inkyu Jang","orcid":"https://orcid.org/0000-0002-5107-446X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inkyu Jang","raw_affiliation_strings":["Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5107-446X","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-6819-1136","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":4.6,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.961463,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"3","first_page":"2056","last_page":"2063"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6483669877052307},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6225796937942505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5630208849906921},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.530503511428833},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5174487233161926},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.47839200496673584},{"id":"https://openalex.org/keywords/three-dimensional-space","display_name":"Three-dimensional space","score":0.4429141581058502},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.44221657514572144},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3256905674934387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2741604447364807},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2198891043663025},{"id":"https://openalex.org/keywords/lyapunov-exponent","display_name":"Lyapunov exponent","score":0.18607327342033386},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12010714411735535},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07213452458381653}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6483669877052307},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6225796937942505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5630208849906921},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.530503511428833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5174487233161926},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.47839200496673584},{"id":"https://openalex.org/C157498722","wikidata":"https://www.wikidata.org/wiki/Q34929","display_name":"Three-dimensional space","level":2,"score":0.4429141581058502},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.44221657514572144},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3256905674934387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2741604447364807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2198891043663025},{"id":"https://openalex.org/C191544260","wikidata":"https://www.wikidata.org/wiki/Q1238630","display_name":"Lyapunov exponent","level":3,"score":0.18607327342033386},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12010714411735535},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07213452458381653},{"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/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3349917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3349917","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2048723778","https://openalex.org/W2171505650","https://openalex.org/W2291992886","https://openalex.org/W2489231587","https://openalex.org/W2525042068","https://openalex.org/W2560504659","https://openalex.org/W2769646558","https://openalex.org/W2962822210","https://openalex.org/W2963995490","https://openalex.org/W2968945909","https://openalex.org/W3011888914","https://openalex.org/W3081975785","https://openalex.org/W3101798601","https://openalex.org/W3119862069","https://openalex.org/W3143034939","https://openalex.org/W3155061166","https://openalex.org/W4210330528","https://openalex.org/W4293255219","https://openalex.org/W4312433875","https://openalex.org/W4313408211","https://openalex.org/W4352977012","https://openalex.org/W4386020936","https://openalex.org/W4387123822","https://openalex.org/W6767277667"],"related_works":["https://openalex.org/W3217133416","https://openalex.org/W2349796700","https://openalex.org/W2475132469","https://openalex.org/W1970635650","https://openalex.org/W2383986032","https://openalex.org/W2126112326","https://openalex.org/W2358066536","https://openalex.org/W1976574339","https://openalex.org/W2496188264","https://openalex.org/W2147929414"],"abstract_inverted_index":{"Control":[0],"barrier":[1],"functions":[2],"(CBFs)":[3],"are":[4],"powerful":[5],"tools":[6],"for":[7,34,65,146,181],"ensuring":[8],"safety":[9,20,42,112,116,122,135,174,180],"in":[10,117,178,185],"controlled":[11],"systems,":[12],"commonly":[13],"employed":[14],"through":[15,162],"the":[16,35,49,52,59,71,125,144,156,159,172,182],"construction":[17],"of":[18,38,51,128,149,158],"a":[19,31,83,88,103,110,150],"filter":[21,113,123,175],"using":[22],"quadratic":[23],"programming":[24],"(QP),":[25],"known":[26],"as":[27,98,131],"CBF-QP.":[28],"However,":[29],"synthesizing":[30],"CBF":[32,60,84],"specifically":[33],"navigation":[36],"tasks":[37],"mobile":[39],"robots,":[40],"where":[41],"is":[43,82],"crucial,":[44],"poses":[45],"challenges":[46],"due":[47],"to":[48,57,101,114,140],"complexity":[50],"operating":[53],"environments.":[54,119],"In":[55,74],"addition":[56],"that,":[58],"synthesis":[61],"should":[62],"be":[63],"repeated":[64],"every":[66],"new":[67,151],"environment,":[68],"further":[69],"escalating":[70],"computational":[72],"burden.":[73],"this":[75],"letter,":[76],"we":[77,108],"introduce":[78],"Lyapunov-based":[79,96],"CBFs,":[80],"which":[81],"built":[85],"solely":[86],"from":[87],"control":[89,105],"Lyapunov":[90],"function":[91],"(CLF).":[92],"By":[93],"utilizing":[94],"multiple":[95,163],"CBFs":[97],"building":[99],"blocks":[100],"create":[102],"large":[104],"invariant":[106],"set,":[107],"formulate":[109],"CBF-QP-like":[111],"ensure":[115],"cluttered":[118],"The":[120],"proposed":[121,160,173],"inherits":[124],"favorable":[126],"characteristics":[127],"CBF-QP":[129],"such":[130],"fast":[132],"computation":[133],"and":[134,137,165],"guarantee,":[136],"can":[138],"adapt":[139],"diverse":[141],"environments":[142],"without":[143],"need":[145],"burdensome":[147],"resynthesis":[148],"environment-specific":[152],"CBF.":[153],"We":[154],"demonstrate":[155],"effectiveness":[157],"approach":[161],"simulation":[164],"real-world":[166],"experiments,":[167],"whose":[168],"results":[169],"show":[170],"that":[171],"was":[176],"successful":[177],"providing":[179],"robot":[183],"even":[184],"complex":[186],"workspaces":[187],"with":[188],"many":[189],"obstacles.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":7}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}