{"id":"https://openalex.org/W4396753554","doi":"https://doi.org/10.1109/lra.2024.3398506","title":"Adaptive High-Order Control Barrier Function-Based Iterative LQR for Real Time Safety-Critical Motion Planning","display_name":"Adaptive High-Order Control Barrier Function-Based Iterative LQR for Real Time Safety-Critical Motion Planning","publication_year":2024,"publication_date":"2024-05-08","ids":{"openalex":"https://openalex.org/W4396753554","doi":"https://doi.org/10.1109/lra.2024.3398506"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3398506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3398506","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/A5101774730","display_name":"Xiangyu Kong","orcid":"https://orcid.org/0009-0003-8416-3121"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangyu Kong","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048182821","display_name":"Wentao Ning","orcid":"https://orcid.org/0009-0005-7902-7875"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Ning","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I132586189","display_name":"Zhongyuan University of Technology","ror":"https://ror.org/0360zcg91","country_code":"CN","type":"education","lineage":["https://openalex.org/I132586189"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["Zhongyuan University of Technology, Zhengzhou, China","School of Automation, Beijing Institute of Technology, Beijing, China","Yuanqing XiaZhongyuan University of Technology, China"],"affiliations":[{"raw_affiliation_string":"Zhongyuan University of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I132586189"]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Yuanqing XiaZhongyuan University of Technology, China","institution_ids":["https://openalex.org/I132586189"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057262467","display_name":"Zhongqi Sun","orcid":"https://orcid.org/0000-0002-6756-2791"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongqi Sun","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038342041","display_name":"Huahui Xie","orcid":"https://orcid.org/0000-0003-2708-9845"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huahui Xie","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101774730"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.5005,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.82928261,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"7","first_page":"6099","last_page":"6106"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9969000220298767,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9962000250816345,"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/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5923306345939636},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5633050203323364},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5322660803794861},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5271677374839783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5132102966308594},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.47647544741630554},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4680575728416443},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4544118642807007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4482458233833313},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.43435513973236084},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4055604934692383},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4026150703430176},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3721087574958801},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30459046363830566},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29458603262901306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17993086576461792}],"concepts":[{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5923306345939636},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5633050203323364},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5322660803794861},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5271677374839783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5132102966308594},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.47647544741630554},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4680575728416443},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4544118642807007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4482458233833313},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.43435513973236084},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4055604934692383},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4026150703430176},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3721087574958801},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30459046363830566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29458603262901306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17993086576461792},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3398506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3398506","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/G148761407","display_name":null,"funder_award_id":"62173035","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2724452901","display_name":null,"funder_award_id":"62373049","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7007940310","display_name":null,"funder_award_id":"61836001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7162007557","display_name":null,"funder_award_id":"61720106010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1964946446","https://openalex.org/W1980569135","https://openalex.org/W2003835006","https://openalex.org/W2093165937","https://openalex.org/W2108631580","https://openalex.org/W2155700785","https://openalex.org/W2158370675","https://openalex.org/W2415165331","https://openalex.org/W2560504659","https://openalex.org/W2620840602","https://openalex.org/W2737829489","https://openalex.org/W2793066675","https://openalex.org/W2924607344","https://openalex.org/W2968945909","https://openalex.org/W2970228732","https://openalex.org/W3004162504","https://openalex.org/W3011888914","https://openalex.org/W3041567964","https://openalex.org/W3155061166","https://openalex.org/W3180158572","https://openalex.org/W3181376804","https://openalex.org/W3186006973","https://openalex.org/W3186317065","https://openalex.org/W3195647294","https://openalex.org/W3210205117","https://openalex.org/W4250589301","https://openalex.org/W4378696928"],"related_works":["https://openalex.org/W1932159282","https://openalex.org/W4285537323","https://openalex.org/W2379312070","https://openalex.org/W2136173754","https://openalex.org/W2110050003","https://openalex.org/W2203843426","https://openalex.org/W2953025626","https://openalex.org/W2499081552","https://openalex.org/W2366053282","https://openalex.org/W1653644965"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"an":[3,56,62],"adaptive":[4],"high-order":[5],"control":[6,140],"barrier":[7],"function-based":[8],"iterative":[9],"linear":[10],"quadratic":[11,68],"regulator":[12],"(AHOCBF-ILQR)":[13],"algorithm":[14],"for":[15,109],"real":[16],"time":[17,85],"safety-critical":[18],"motion":[19,106],"planning.":[20],"Firstly,":[21],"we":[22,90],"propose":[23],"a":[24,28,34,67,75,110],"HOCBF-ILQR":[25],"method,":[26],"where":[27,114],"HOCBF-based":[29],"controller":[30],"is":[31,52,117],"designed":[32],"as":[33],"safety":[35,96],"filter":[36],"of":[37,87,94,99],"ILQR":[38],"to":[39,43,71,119],"guarantee":[40],"safety.":[41,150],"Then,":[42],"address":[44],"the":[45,84,95,115,139],"potential":[46],"infeasibility":[47],"issue":[48],"in":[49,129],"HOCBF-ILQR,":[50],"AHOCBF-ILQR":[51,136],"proposed":[53],"by":[54,105],"introducing":[55],"auxiliary":[57],"variable.":[58],"In":[59],"AHOCBF-ILQR,":[60],"only":[61],"unconstrained":[63],"optimization":[64],"problem":[65],"and":[66,97,148],"programming":[69],"need":[70],"be":[72],"solved":[73],"within":[74,142],"sampling":[76],"interval.":[77],"The":[78,101,131],"low":[79],"computation":[80],"burden":[81],"significantly":[82],"enhances":[83],"efficiency":[86],"AHOCBF-ILQR.":[88,100],"Furthermore,":[89],"provide":[91],"theoretical":[92],"proof":[93],"feasibility":[98],"algorithms":[102],"are":[103,127],"tested":[104],"planning":[107],"experiments":[108],"wheeled":[111],"mobile":[112],"robot,":[113],"robot":[116],"required":[118],"navigate":[120],"around":[121],"static":[122],"or":[123],"moving":[124],"obstacles":[125],"that":[126,135],"unknown":[128],"advance.":[130],"experimental":[132],"results":[133],"show":[134],"can":[137],"solve":[138],"inputs":[141],"<inline-formula":[143],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[144],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[145],"notation=\"LaTeX\">$\\text{0.05}~s$</tex-math></inline-formula>":[146],",":[147],"ensure":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
