{"id":"https://openalex.org/W7131065791","doi":"https://doi.org/10.1109/robio66223.2025.11376316","title":"Learning-Guided Risk-Adaptive MPC with Control Barrier Functions for Safe Navigation in Uncertain Dynamic Environments","display_name":"Learning-Guided Risk-Adaptive MPC with Control Barrier Functions for Safe Navigation in Uncertain Dynamic Environments","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131065791","doi":"https://doi.org/10.1109/robio66223.2025.11376316"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5126624125","display_name":"Zhirui Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhirui Sun","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100440540","display_name":"Siyuan Wang","orcid":"https://orcid.org/0000-0001-7174-9754"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Wang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126608732","display_name":"Yuhan Pang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhan Pang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126609630","display_name":"Bi-Ke Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bi-Ke Zhu","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087262165","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0002-5147-5490"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"508","last_page":"513"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.6769000291824341,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.6769000291824341,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.07720000296831131,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.046300001442432404,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.6065000295639038},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5936999917030334},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5569999814033508},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5160999894142151},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5148000121116638},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.499099999666214},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47780001163482666},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.459199994802475},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.45730000734329224}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6376000046730042},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.6065000295639038},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5936999917030334},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5569999814033508},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5160999894142151},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5148000121116638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.499099999666214},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47780001163482666},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.459199994802475},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.45730000734329224},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.42640000581741333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4187000095844269},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35179999470710754},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3384999930858612},{"id":"https://openalex.org/C2777488183","wikidata":"https://www.wikidata.org/wiki/Q6900510","display_name":"Safety monitoring","level":2,"score":0.3345000147819519},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.296099990606308},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.2750000059604645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2167052694","https://openalex.org/W2624934338","https://openalex.org/W2890001928","https://openalex.org/W3166231878","https://openalex.org/W3186317065","https://openalex.org/W3205400264","https://openalex.org/W3206590752","https://openalex.org/W4312554062","https://openalex.org/W4362014203","https://openalex.org/W4390534862","https://openalex.org/W4391995188","https://openalex.org/W4393300446","https://openalex.org/W4401414276","https://openalex.org/W4401415361","https://openalex.org/W4402262118","https://openalex.org/W4406610082","https://openalex.org/W4407950306","https://openalex.org/W4408423413","https://openalex.org/W4413918759","https://openalex.org/W4416748347","https://openalex.org/W7123348370"],"related_works":[],"abstract_inverted_index":{"Safe":[0],"navigation":[1],"among":[2],"dynamic":[3,125],"obstacles":[4],"is":[5,87,148],"challenging":[6],"due":[7],"to":[8,53,89],"complex":[9],"interactions":[10],"and":[11,14,79,110,118,140],"unavoidable":[12],"sensing":[13],"prediction":[15],"uncertainty.":[16],"We":[17],"propose":[18],"a":[19,43,54,90,103],"learning-guided,":[20],"risk-adaptive":[21,91],"control":[22],"framework,":[23],"Risk-Adaptive":[24],"Model":[25],"Predictive":[26],"Control":[27,29],"with":[28,36,67],"Barrier":[30],"Functions":[31],"(RA-MPCCBF).":[32],"A":[33,143],"policy":[34,65],"trained":[35],"Proximal":[37],"Policy":[38],"Optimization":[39],"(PPO)":[40],"adaptively":[41],"adjusts":[42],"risk":[44],"level":[45],"<tex":[46,84],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[47,85],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\beta$</tex>":[48,86],"online,":[49],"then":[50],"maps":[51],"it":[52],"risk-sensitive":[55],"safety":[56,80,132],"margin":[57,92],"for":[58],"the":[59,64,98],"CBF":[60],"constraints.":[61],"During":[62],"training,":[63],"interacts":[66],"an":[68,94],"uncertainty-aware":[69],"CVaR-CBF":[70],"controller":[71],"that":[72,128],"provides":[73],"real-time":[74],"feedback":[75],"on":[76],"solution":[77],"feasibility":[78],"performance.":[81],"At":[82],"deployment,":[83],"mapped":[88],"within":[93],"MPC-CBF,":[95],"which":[96],"executes":[97],"first":[99],"feasible":[100],"plan":[101],"from":[102],"prioritized":[104],"candidate":[105],"set.":[106],"Feasibility-oriented":[107],"reward":[108],"design":[109],"quantile-based":[111],"inference":[112],"mechanisms":[113],"further":[114],"enhance":[115],"training":[116],"stability":[117],"deployment":[119],"robustness.":[120],"Systematic":[121],"evaluations":[122],"in":[123],"randomized":[124],"environments":[126],"show":[127],"RA-MPC-CBF":[129],"consistently":[130],"improves":[131],"while":[133],"maintaining":[134],"efficiency":[135],"across":[136],"varying":[137],"obstacle":[138],"densities":[139],"noise":[141],"levels.":[142],"website":[144],"about":[145],"this":[146],"work":[147],"available":[149],"at":[150],"https://sites.google.com/view/ra-mpc-cbf.":[151]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}
