{"id":"https://openalex.org/W4392502188","doi":"https://doi.org/10.1109/tac.2024.3374265","title":"Hybrid Control Barrier Functions for Continuous-Time Systems","display_name":"Hybrid Control Barrier Functions for Continuous-Time Systems","publication_year":2024,"publication_date":"2024-03-06","ids":{"openalex":"https://openalex.org/W4392502188","doi":"https://doi.org/10.1109/tac.2024.3374265"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3374265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3374265","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11250/3155611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024178801","display_name":"Mathias Marley","orcid":"https://orcid.org/0000-0001-7673-1123"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Mathias Marley","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway","Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, 7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-7673-1123","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, 7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078742397","display_name":"Roger Skjetne","orcid":"https://orcid.org/0000-0001-9289-1450"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Roger Skjetne","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway","Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, 7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-9289-1450","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Department of Marine Technology, Norwegian University of Science and Technology, 7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002737786","display_name":"Andrew R. Teel","orcid":"https://orcid.org/0000-0002-6508-0879"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew R. Teel","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6508-0879","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024178801"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":1.5776,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81863235,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"69","issue":"10","first_page":"6605","last_page":"6619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9781000018119812,"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":0.9781000018119812,"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":0.9369000196456909,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9355000257492065,"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":0.49858522415161133},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4924493730068207},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4612082540988922},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43635180592536926},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3253260850906372},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2524828314781189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12247809767723083},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09707564115524292}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49858522415161133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4924493730068207},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4612082540988922},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43635180592536926},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3253260850906372},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2524828314781189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12247809767723083},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09707564115524292}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2024.3374265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3374265","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"},{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3155611","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3155611","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"6605-6619","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:ntnuopen.ntnu.no:11250/3155611","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/3155611","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"6605-6619","raw_type":"info:eu-repo/semantics/other"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6299999952316284}],"awards":[{"id":"https://openalex.org/G1768147979","display_name":null,"funder_award_id":"FA9550-21-1-0452","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G2665705818","display_name":null,"funder_award_id":"223254","funder_id":"https://openalex.org/F4320332769","funder_display_name":"Senter for Autonome Marine Operasjoner og Systemer"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"},{"id":"https://openalex.org/F4320332769","display_name":"Senter for Autonome Marine Operasjoner og Systemer","ror":"https://ror.org/05xg72x27"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W170615663","https://openalex.org/W1529034024","https://openalex.org/W1891170951","https://openalex.org/W1972149633","https://openalex.org/W1980569135","https://openalex.org/W2001569400","https://openalex.org/W2011890031","https://openalex.org/W2033118636","https://openalex.org/W2052446317","https://openalex.org/W2104103836","https://openalex.org/W2162379117","https://openalex.org/W2234962923","https://openalex.org/W2238345790","https://openalex.org/W2489231587","https://openalex.org/W2560504659","https://openalex.org/W2885835093","https://openalex.org/W2886509609","https://openalex.org/W2914003710","https://openalex.org/W2952138851","https://openalex.org/W2968945909","https://openalex.org/W2972311683","https://openalex.org/W3011888914","https://openalex.org/W3011904655","https://openalex.org/W3016801631","https://openalex.org/W3046160353","https://openalex.org/W3081044957","https://openalex.org/W3082980732","https://openalex.org/W3083134944","https://openalex.org/W3090132180","https://openalex.org/W3093423401","https://openalex.org/W3107704736","https://openalex.org/W3110410264","https://openalex.org/W3119274498","https://openalex.org/W3124343313","https://openalex.org/W3127254817","https://openalex.org/W3132696407","https://openalex.org/W3155100084","https://openalex.org/W3171845842","https://openalex.org/W3186557207","https://openalex.org/W3195647294","https://openalex.org/W3199810006","https://openalex.org/W3209501773","https://openalex.org/W4205451316","https://openalex.org/W4210450858","https://openalex.org/W4249513058","https://openalex.org/W4255043376","https://openalex.org/W4281776977","https://openalex.org/W4379984940","https://openalex.org/W4388579743","https://openalex.org/W6785978685"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2638730922","https://openalex.org/W2190465783","https://openalex.org/W2027827693","https://openalex.org/W2381267592"],"abstract_inverted_index":{"Control":[0],"barrier":[1],"functions":[2],"(CBFs)":[3],"enable":[4],"constraint":[5,29],"satisfaction":[6,30],"in":[7,31,61],"controlled":[8],"dynamical":[9],"systems,":[10],"by":[11,47,105],"mapping":[12],"state":[13],"constraints":[14],"into":[15],"state-dependent":[16],"input":[17],"constraints.":[18,99],"This":[19],"paper":[20],"investigates":[21],"the":[22],"use":[23],"of":[24,63],"hybrid":[25,85,92],"CBF":[26],"formulations":[27],"for":[28,58,70,83],"continuous-time":[32],"systems.":[33],"Augmenting":[34],"CBFs":[35,87,93],"with":[36,96],"logic":[37],"variables":[38],"enables":[39],"solving":[40],"control":[41],"problems":[42],"that":[43],"are":[44,103],"not":[45],"solvable":[46],"continuous,":[48],"or":[49],"even":[50],"discontinuous,":[51],"control.":[52],"Examples":[53],"include":[54],"robust":[55,67],"deadlock":[56],"resolution":[57],"vehicles":[59,72],"moving":[60],"presence":[62],"bounded":[64],"obstacles,":[65],"and":[66],"obstacle":[68],"avoidance":[69],"nonholonomic":[71],"required":[73],"to":[74,94],"maintain":[75],"a":[76],"nonzero":[77],"forward":[78],"speed.":[79],"A":[80],"recursive":[81],"procedure":[82],"constructing":[84],"high-order":[86,97],"is":[88],"proposed,":[89],"thereby":[90],"extending":[91],"systems":[95],"safety":[98],"The":[100],"theoretical":[101],"results":[102],"illustrated":[104],"several":[106],"examples.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
