{"id":"https://openalex.org/W4376457114","doi":"https://doi.org/10.1109/tac.2023.3274821","title":"Reach-Avoid Verification Based on Convex Optimization","display_name":"Reach-Avoid Verification Based on Convex Optimization","publication_year":2023,"publication_date":"2023-05-11","ids":{"openalex":"https://openalex.org/W4376457114","doi":"https://doi.org/10.1109/tac.2023.3274821"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3274821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3274821","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","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/A5100781916","display_name":"Xue Bai","orcid":"https://orcid.org/0000-0001-9717-846X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bai Xue","raw_affiliation_strings":["State Key Laboratory of Computer Science, Institute of Software Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer Science, Institute of Software Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026435847","display_name":"Naijun Zhan","orcid":"https://orcid.org/0000-0003-3298-3817"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Naijun Zhan","raw_affiliation_strings":["State Key Laboratory of Computer Science, Institute of Software Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Computer Science, Institute of Software Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089746112","display_name":"Martin Fr\u00e4nzle","orcid":"https://orcid.org/0000-0002-9138-8340"},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Fr\u00e4nzle","raw_affiliation_strings":["Carl von Ossietzky Universit&#x00E4;t Oldenburg, Oldenburg, Germany"],"affiliations":[{"raw_affiliation_string":"Carl von Ossietzky Universit&#x00E4;t Oldenburg, Oldenburg, Germany","institution_ids":["https://openalex.org/I129877168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836625","display_name":"Ji Wang","orcid":"https://orcid.org/0000-0003-0637-8744"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Wang","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082329778","display_name":"Wanwei Liu","orcid":"https://orcid.org/0000-0002-2315-1704"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanwei Liu","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100781916"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":2.5584,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.91032194,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"69","issue":"1","first_page":"598","last_page":"605"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9829000234603882,"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":0.9803000092506409,"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/set","display_name":"Set (abstract data type)","score":0.6626043915748596},{"id":"https://openalex.org/keywords/set-function","display_name":"Set function","score":0.5851439833641052},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5847121477127075},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5491474270820618},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5250066518783569},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4844829738140106},{"id":"https://openalex.org/keywords/semidefinite-programming","display_name":"Semidefinite programming","score":0.478943407535553},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46730542182922363},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4616073668003082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4458051919937134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4386799931526184},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.4324477016925812},{"id":"https://openalex.org/keywords/solution-set","display_name":"Solution set","score":0.4212574362754822},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08613073825836182}],"concepts":[{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6626043915748596},{"id":"https://openalex.org/C15312841","wikidata":"https://www.wikidata.org/wiki/Q1657198","display_name":"Set function","level":3,"score":0.5851439833641052},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5847121477127075},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5491474270820618},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5250066518783569},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4844829738140106},{"id":"https://openalex.org/C101901036","wikidata":"https://www.wikidata.org/wiki/Q2269096","display_name":"Semidefinite programming","level":2,"score":0.478943407535553},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46730542182922363},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4616073668003082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4458051919937134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4386799931526184},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.4324477016925812},{"id":"https://openalex.org/C60033838","wikidata":"https://www.wikidata.org/wiki/Q1751685","display_name":"Solution set","level":3,"score":0.4212574362754822},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08613073825836182},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2023.3274821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3274821","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1415909970","display_name":null,"funder_award_id":"62192732","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G41279851","display_name":null,"funder_award_id":"62032024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4152333540","display_name":null,"funder_award_id":"DFG FR 2715/5-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G7097245526","display_name":null,"funder_award_id":"61836005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"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":25,"referenced_works":["https://openalex.org/W306903215","https://openalex.org/W1499853177","https://openalex.org/W1607353007","https://openalex.org/W1698848442","https://openalex.org/W2015863039","https://openalex.org/W2033118636","https://openalex.org/W2034773561","https://openalex.org/W2050383062","https://openalex.org/W2084859862","https://openalex.org/W2085838366","https://openalex.org/W2091616860","https://openalex.org/W2096326343","https://openalex.org/W2106985815","https://openalex.org/W2129729773","https://openalex.org/W2131332110","https://openalex.org/W2149626391","https://openalex.org/W2169239645","https://openalex.org/W2528933731","https://openalex.org/W2536620281","https://openalex.org/W2889277448","https://openalex.org/W2932827394","https://openalex.org/W2968945909","https://openalex.org/W3107034996","https://openalex.org/W3158895321","https://openalex.org/W4210812484"],"related_works":["https://openalex.org/W1983756092","https://openalex.org/W2381295697","https://openalex.org/W2385886188","https://openalex.org/W2378309693","https://openalex.org/W579949368","https://openalex.org/W2392105230","https://openalex.org/W2969512097","https://openalex.org/W2771573511","https://openalex.org/W2128208703","https://openalex.org/W2377859147"],"abstract_inverted_index":{"In":[0],"this":[1,190],"article,":[2],"we":[3,35,195],"propose":[4],"novel":[5],"sufficient":[6,234],"conditions":[7,46,235],"for":[8,43,111,217],"verifying":[9,112,218],"reach-avoid":[10,39,114,220],"properties":[11],"of":[12,33,53,106,119,149,163,193,199,209,232],"continuous-time":[13],"systems":[14],"modeled":[15],"by":[16],"ordinary":[17],"differential":[18],"equations.":[19],"Given":[20],"a":[21,26,30,100,125,160,197],"system,":[22],"an":[23,136],"initial":[24,45,49,90],"set,":[25,28,50],"safe":[27,75],"and":[29,230],"target":[31,69,80,95,132],"set":[32,70,76,91,96,133,148,192,198],"states,":[34],"say":[36],"that":[37,78,146],"the":[38,48,54,68,74,85,89,94,113,117,128,131,164,169,174,205,219,227],"property":[40,115,221],"holds":[41],"if,":[42],"all":[44],"in":[47,62],"any":[51],"trajectory":[52],"system":[55,86,129],"starting":[56,87],"at":[57,135],"them":[58],"will":[59],"eventually,":[60],"i.e.,":[61],"unbounded":[63],"yet":[64],"finite":[65],"time,":[66],"enter":[67],"while":[71,173],"remaining":[72],"inside":[73],"until":[77],"first":[79],"hit":[81],"(that":[82],"is,":[83],"if":[84],"from":[88,168],"can":[92],"reach":[93],"safely).":[97],"Based":[98],"on":[99],"discount":[101],"value":[102],"function,":[103],"two":[104,207],"sets":[105,208],"quantified":[107],"constraints":[108,150,210],"are":[109],"derived":[110,167],"via":[116],"computation":[118],"exponential/asymptotic":[120],"guidance-barrier":[121,156,182],"functions":[122,157,183],"(they":[123],"form":[124],"barrier":[126],"escorting":[127],"to":[130,144],"safely":[134],"exponential":[137,155],"or":[138],"asymptotic":[139,181],"rate).":[140],"It":[141],"is":[142,153,158,179,184],"interesting":[143],"find":[145],"one":[147,166,176],"whose":[151,177],"solution":[152,178],"termed":[154,180],"just":[159],"simplified":[161],"version":[162],"existing":[165],"moment":[170],"based":[171],"method,":[172],"other":[175],"completely":[185],"new.":[186],"Furthermore,":[187],"built":[188],"upon":[189],"new":[191],"constraints,":[194,202],"derive":[196],"more":[200,215],"expressive":[201],"which":[203],"includes":[204],"aforementioned":[206],"as":[211],"special":[212],"instances,":[213],"providing":[214],"chances":[216],"successfully.":[222],"Finally,":[223],"several":[224],"examples":[225],"demonstrate":[226],"theoretical":[228],"developments":[229],"performance":[231],"proposed":[233],"using":[236],"semidefinite":[237],"programming":[238],"methods.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
