{"id":"https://openalex.org/W4385259170","doi":"https://doi.org/10.1109/med59994.2023.10185756","title":"Avoiding Undesirable Equilibria in Control Barrier Function Approaches for Multi-Robot Planar Systems","display_name":"Avoiding Undesirable Equilibria in Control Barrier Function Approaches for Multi-Robot Planar Systems","publication_year":2023,"publication_date":"2023-06-26","ids":{"openalex":"https://openalex.org/W4385259170","doi":"https://doi.org/10.1109/med59994.2023.10185756"},"language":"en","primary_location":{"id":"doi:10.1109/med59994.2023.10185756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med59994.2023.10185756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-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/A5058748885","display_name":"Vin\u00edcius Mariano Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-9730-6190"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]},{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["AE","IN"],"is_corresponding":true,"raw_author_name":"Vinicius Mariano Gon\u00e7alves","raw_affiliation_strings":["New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]},{"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/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":["New York University,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University,Electrical &#x0026; Computer Engineering Department,Brooklyn,NY,USA,11201","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/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Anthony Tzes","raw_affiliation_strings":["New York University Abu Dhabi,Electrical Engineering,Abu Dhabi,United Arab Emirates,129188"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Electrical Engineering,Abu Dhabi,United Arab Emirates,129188","institution_ids":["https://openalex.org/I120250893"]}]},{"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/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]},{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]},{"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":["AE","IN","US"],"is_corresponding":false,"raw_author_name":"Farshad Khorrami","raw_affiliation_strings":["New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Center for Artificial Intelligence and Robotics (CAIR),United Arab Emirates","institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"Electrical & Computer Engineering Department, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058748885"],"corresponding_institution_ids":["https://openalex.org/I120250893","https://openalex.org/I4210121405"],"apc_list":null,"apc_paid":null,"fwci":0.4939,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64734421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"376","last_page":"381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.998199999332428,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9945999979972839,"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/robot","display_name":"Robot","score":0.7737109661102295},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6687699556350708},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6545564532279968},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5367923974990845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49794578552246094},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4934762716293335},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48890796303749084},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.46396151185035706},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4335263669490814},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3510599136352539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1753498613834381},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15618768334388733}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7737109661102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6687699556350708},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6545564532279968},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5367923974990845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49794578552246094},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4934762716293335},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48890796303749084},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.46396151185035706},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4335263669490814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3510599136352539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1753498613834381},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15618768334388733},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med59994.2023.10185756","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med59994.2023.10185756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 31st Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309290","display_name":"New York University","ror":"https://ror.org/0190ak572"},{"id":"https://openalex.org/F4320330069","display_name":"Tamkeen","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1509803206","https://openalex.org/W2110144538","https://openalex.org/W2128990851","https://openalex.org/W2152322189","https://openalex.org/W2162440460","https://openalex.org/W2892245034","https://openalex.org/W2968945909","https://openalex.org/W3035313359","https://openalex.org/W3046160353","https://openalex.org/W3163385717","https://openalex.org/W3185346133","https://openalex.org/W4210330528","https://openalex.org/W4242811155","https://openalex.org/W4283391004","https://openalex.org/W4289829301","https://openalex.org/W4306851371","https://openalex.org/W4315472378","https://openalex.org/W4315489117","https://openalex.org/W4366457166","https://openalex.org/W6851454560"],"related_works":["https://openalex.org/W4206327962","https://openalex.org/W2010009304","https://openalex.org/W1996851061","https://openalex.org/W3021694725","https://openalex.org/W2025195393","https://openalex.org/W2940695648","https://openalex.org/W1973684381","https://openalex.org/W4286857063","https://openalex.org/W3040895870","https://openalex.org/W2794564760"],"abstract_inverted_index":{"Control":[0],"Barrier":[1],"Functions":[2],"(CBFs)":[3],"when":[4,114],"paired":[5],"with":[6,33,44],"Quadratic":[7],"Programming":[8],"offer":[9],"an":[10,128],"efficient":[11],"way":[12],"to":[13,27,54,102],"generate":[14],"safety-critical":[15],"controllers.":[16],"In":[17],"this":[18,87,90],"paper,":[19],"we":[20],"utilize":[21],"CBFs":[22],"for":[23,140],"guiding":[24],"multiple":[25],"robots":[26,46,57,101],"their":[28,59],"goals":[29,61],"while":[30],"avoiding":[31],"collisions":[32],"the":[34,56,73,77,81,96,100,104,107,121,134,137],"environment":[35],"and":[36,47,68],"among":[37],"themselves.":[38],"However,":[39],"in":[40,72,86,95,115,127],"more":[41],"complex":[42],"scenarios,":[43],"many":[45],"non-convex":[48],"obstacles,":[49],"these":[50],"approaches":[51],"often":[52],"fail":[53],"guide":[55],"towards":[58],"desired":[60,78],"because":[62],"there":[63],"can":[64],"be":[65],"other":[66,75,113],"stable":[67],"undesirable":[69,129],"equilibrium":[70],"points":[71],"system":[74,122],"than":[76],"one":[79],"(reaching":[80],"goal).":[82],"The":[83],"proposed":[84,138],"approach":[85,139],"paper":[88],"mitigates":[89],"issue":[91],"by":[92],"including":[93],"constraints":[94],"formulation":[97],"that":[98,120],"force":[99],"circulate":[103],"boundary":[105],"of":[106,136],"obstacles":[108],"as":[109,111],"well":[110],"each":[112],"close":[116],"proximity.":[117],"This":[118],"ensures":[119],"does":[123],"not":[124],"get":[125],"stuck":[126],"equilibrium.":[130],"Simulation":[131],"studies":[132],"show":[133],"efficacy":[135],"a":[141],"multi-agent":[142],"problem.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
