{"id":"https://openalex.org/W4407127499","doi":"https://doi.org/10.1109/tac.2025.3538742","title":"Robust Control Barrier Functions Using Uncertainty Estimation With Application to Mobile Robots","display_name":"Robust Control Barrier Functions Using Uncertainty Estimation With Application to Mobile Robots","publication_year":2025,"publication_date":"2025-02-04","ids":{"openalex":"https://openalex.org/W4407127499","doi":"https://doi.org/10.1109/tac.2025.3538742"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3538742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3538742","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/A5014043432","display_name":"Ersin Da\u015f","orcid":"https://orcid.org/0000-0003-1291-3803"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ersin Da\u015f","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel W. Burdick","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014043432"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":24.3166,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.99616733,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"70","issue":"7","first_page":"4766","last_page":"4773"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9986000061035156,"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":0.998199999332428,"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/mobile-robot","display_name":"Mobile robot","score":0.6845820546150208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5869878530502319},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.56624436378479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4603249132633209},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45153576135635376},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43605631589889526},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.4156700074672699},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4118138551712036},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3608397841453552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24490085244178772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20656374096870422}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6845820546150208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5869878530502319},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.56624436378479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4603249132633209},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45153576135635376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43605631589889526},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4156700074672699},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4118138551712036},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3608397841453552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24490085244178772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20656374096870422},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2025.3538742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3538742","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W2024278792","https://openalex.org/W2097121541","https://openalex.org/W2510630379","https://openalex.org/W2560504659","https://openalex.org/W2606126819","https://openalex.org/W2885116100","https://openalex.org/W2887154784","https://openalex.org/W2964040381","https://openalex.org/W2992833799","https://openalex.org/W3011888914","https://openalex.org/W3041470844","https://openalex.org/W3119915811","https://openalex.org/W3155499355","https://openalex.org/W3166543246","https://openalex.org/W3168522732","https://openalex.org/W3195647294","https://openalex.org/W4205651461","https://openalex.org/W4206273786","https://openalex.org/W4285446259","https://openalex.org/W4292249799","https://openalex.org/W4312581147","https://openalex.org/W4315488857","https://openalex.org/W4376623856","https://openalex.org/W4380303637","https://openalex.org/W4382935752","https://openalex.org/W4382936329","https://openalex.org/W4386820740","https://openalex.org/W4387123822","https://openalex.org/W4391164394","https://openalex.org/W4401414091"],"related_works":["https://openalex.org/W2576994247","https://openalex.org/W2608353378","https://openalex.org/W4249206767","https://openalex.org/W8302103","https://openalex.org/W2563559453","https://openalex.org/W2382330008","https://openalex.org/W1519970947","https://openalex.org/W4243860260","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,31,46,61,117,129,149],"safety-critical":[4,58],"control":[5,10,25,65,101,136],"design":[6],"approach":[7],"for":[8,54],"nonlinear":[9],"affine":[11],"systems":[12],"in":[13,116],"the":[14,41,51,79,107,123,141],"presence":[15],"of":[16,131,143],"matched":[17,154],"and":[18,57,103,138,155],"unmatched":[19,90,156],"uncertainties.":[20],"Our":[21],"constructive":[22],"framework":[23,147],"couples":[24],"barrier":[26],"function":[27],"(CBF)":[28],"theory":[29],"with":[30,45,98,152],"new":[32],"uncertainty":[33],"estimator":[34],"to":[35,81,86,100],"ensure":[36],"robust":[37,70,125,145],"safety.":[38],"We":[39,77,105,121],"use":[40],"estimated":[42],"uncertainty,":[43,91],"along":[44],"derived":[47],"upper":[48],"bound":[49],"on":[50,148],"estimation":[52],"error,":[53],"synthesizing":[55],"CBFs":[56,84],"controllers":[59],"via":[60],"quadratic":[62],"program-based":[63],"feedback":[64],"law":[66],"that":[67],"rigorously":[68],"ensures":[69],"safety":[71,88],"while":[72],"improving":[73],"disturbance":[74],"rejection":[75],"performance.":[76],"extend":[78],"method":[80,127],"higher":[82],"order":[83],"(HOCBFs)":[85],"achieve":[87],"under":[89],"which":[92],"may":[93],"cause":[94],"relative":[95,108],"degree":[96,109],"differences":[97],"respect":[99],"input":[102],"disturbances.":[104],"assume":[106],"difference":[110],"is":[111],"at":[112],"most":[113],"one,":[114],"resulting":[115],"second-order":[118],"cone":[119],"constraint.":[120],"demonstrate":[122],"proposed":[124],"HOCBF":[126],"through":[128],"simulation":[130],"an":[132],"uncertain":[133],"elastic":[134],"actuator":[135],"problem":[137],"experimentally":[139],"validate":[140],"efficacy":[142],"our":[144],"CBF":[146],"tracked":[150],"robot":[151],"slope-induced":[153],"perturbations.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}