{"id":"https://openalex.org/W4410029413","doi":"https://doi.org/10.1109/tac.2025.3566652","title":"Safe Control of Multiagent Systems via Low-Complexity Control Barrier Functions","display_name":"Safe Control of Multiagent Systems via Low-Complexity Control Barrier Functions","publication_year":2025,"publication_date":"2025-05-02","ids":{"openalex":"https://openalex.org/W4410029413","doi":"https://doi.org/10.1109/tac.2025.3566652"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3566652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3566652","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/A5038002301","display_name":"Xiao Min","orcid":"https://orcid.org/0000-0002-4690-7287"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiao Min","raw_affiliation_strings":["School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055979973","display_name":"Simone Baldi","orcid":"https://orcid.org/0000-0001-9752-8925"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Simone Baldi","raw_affiliation_strings":["School of Mathematics, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mathematics, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028730873","display_name":"Yang Shi","orcid":"https://orcid.org/0000-0003-1337-5322"},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yang Shi","raw_affiliation_strings":["Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada","institution_ids":["https://openalex.org/I212119943"]}]},{"author_position":"last","author":{"id":null,"display_name":"Wenwu Yu","orcid":"https://orcid.org/0000-0003-0301-9180"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenwu Yu","raw_affiliation_strings":["School of Mathematics, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Mathematics, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038002301"],"corresponding_institution_ids":["https://openalex.org/I41198531"],"apc_list":null,"apc_paid":null,"fwci":4.6468,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94526873,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"70","issue":"10","first_page":"6831","last_page":"6845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9797000288963318,"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":0.9797000288963318,"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/T10917","display_name":"Smart Grid Security and Resilience","score":0.9571999907493591,"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":0.9549999833106995,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.619088351726532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5038992762565613},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.49511924386024475},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4163754880428314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3897255063056946},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33962225914001465},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2698572278022766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13677561283111572}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.619088351726532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5038992762565613},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49511924386024475},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4163754880428314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3897255063056946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33962225914001465},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2698572278022766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13677561283111572},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2025.3566652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3566652","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":[{"id":"https://openalex.org/G1649157988","display_name":null,"funder_award_id":"62150610499","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4995428506","display_name":null,"funder_award_id":"62073074","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7790975359","display_name":null,"funder_award_id":"623B2024","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7846504898","display_name":null,"funder_award_id":"62233004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"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":48,"referenced_works":["https://openalex.org/W1548148540","https://openalex.org/W2013217995","https://openalex.org/W2022494878","https://openalex.org/W2042733674","https://openalex.org/W2080817687","https://openalex.org/W2082329867","https://openalex.org/W2142572589","https://openalex.org/W2153389562","https://openalex.org/W2238345790","https://openalex.org/W2344401470","https://openalex.org/W2474402095","https://openalex.org/W2501046130","https://openalex.org/W2560370148","https://openalex.org/W2560504659","https://openalex.org/W2772906875","https://openalex.org/W2803430983","https://openalex.org/W2887154784","https://openalex.org/W2914000085","https://openalex.org/W2921294870","https://openalex.org/W2934215271","https://openalex.org/W2945541231","https://openalex.org/W2991303041","https://openalex.org/W2995624621","https://openalex.org/W2995759359","https://openalex.org/W3037543208","https://openalex.org/W3047892733","https://openalex.org/W3097679021","https://openalex.org/W3099934139","https://openalex.org/W3116349198","https://openalex.org/W3135519380","https://openalex.org/W3155061166","https://openalex.org/W3168522732","https://openalex.org/W3187017755","https://openalex.org/W3193484362","https://openalex.org/W3195647294","https://openalex.org/W3199185363","https://openalex.org/W3206760657","https://openalex.org/W4205635947","https://openalex.org/W4214949530","https://openalex.org/W4239216443","https://openalex.org/W4239771779","https://openalex.org/W4292249799","https://openalex.org/W4300439422","https://openalex.org/W4313485557","https://openalex.org/W4315472240","https://openalex.org/W4319999961","https://openalex.org/W4385627501","https://openalex.org/W4392887407"],"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":{"In":[0],"its":[1],"standard":[2],"formulation,":[3],"the":[4,13,16,21,24,29,35,45,48,55,62,98,105,108,130,146,149,158,162,172,185,212,215,219],"Control":[5],"Barrier":[6],"Function":[7],"(CBF)":[8],"method":[9],"scales":[10],"poorly":[11],"as":[12,197],"order":[14],"of":[15,26,50,54,61,93,100,107,115,133,135,214],"system":[17],"dynamics":[18],"increases.":[19],"On":[20,44],"one":[22],"hand,":[23,47],"need":[25],"recursively":[27],"extending":[28],"control":[30,92,150],"with":[31,211],"higher-order":[32,94],"terms":[33,114,191],"along":[34],"backstepping":[36,159],"procedure":[37],"inevitably":[38],"results":[39],"in":[40,81,113,202],"dynamically":[41],"increasing":[42],"complexity.":[43],"other":[46],"lack":[49,134],"an":[51],"explicit":[52],"form":[53],"CBF":[56,117,164],"leads":[57],"to":[58,65,129,167,177,188,198],"implicit":[59],"formulations":[60],"safety":[63,110,173],"conditions,":[64,174],"be":[66],"solved":[67],"numerically":[68],"via":[69],"quadratic":[70,179],"programming.":[71,180],"These":[72],"high":[73],"complexity":[74,143],"and":[75,194,209],"poor":[76],"scalability":[77],"issues":[78],"further":[79,217],"amplify":[80],"multi-agent":[82,95],"systems.":[83],"This":[84],"work":[85],"proposes":[86],"a":[87,116,127,140,203],"low-complexity":[88],"framework":[89],"for":[90,138,192],"safe":[91],"systems":[96],"within":[97],"philosophy":[99],"funnel":[101,123],"control.":[102],"Different":[103],"from":[104,122,145],"state":[106,213],"art,":[109],"is":[111,119,165],"expressed":[112],"that":[118,148,184],"explicitly":[120],"constructed":[121],"functions,":[124],"thus":[125],"providing":[126],"solution":[128],"well-known":[131],"problem":[132],"systematic":[136],"methods":[137],"constructing":[139],"CBF.":[141],"Low":[142],"comes":[144],"fact":[147],"does":[151],"not":[152],"involve":[153],"complex":[154],"dynamical":[155],"extensions":[156],"during":[157],"procedure.":[160],"Notably,":[161],"proposed":[163],"shown":[166],"automatically":[168],"satisfy":[169],"by":[170],"design":[171,186],"without":[175],"resorting":[176],"any":[178],"Lyapunov":[181],"analysis":[182],"shows":[183],"allows":[187],"consider":[189],"individual":[190],"stability":[193],"safety,":[195],"so":[196],"accomplish":[199],"these":[200],"tasks":[201],"seamless":[204],"integrated":[205],"fashion.":[206],"Simulation":[207],"studies":[208],"comparisons":[210],"art":[216],"demonstrate":[218],"method.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}