{"id":"https://openalex.org/W4409916908","doi":"https://doi.org/10.1109/tase.2025.3565524","title":"Meta-Learning-Based Safety-Critical Control in Multi-Obstacles Environments","display_name":"Meta-Learning-Based Safety-Critical Control in Multi-Obstacles Environments","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4409916908","doi":"https://doi.org/10.1109/tase.2025.3565524"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3565524","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3565524","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tase.2025.3565524","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011058134","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-5509-3799"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102016210","display_name":"Long Wen","orcid":"https://orcid.org/0000-0001-6123-9662"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Long Wen","raw_affiliation_strings":["Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021073179","display_name":"Yuhong Huang","orcid":"https://orcid.org/0000-0003-2773-8358"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yuhong Huang","raw_affiliation_strings":["Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008503985","display_name":"Siming Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Siming Sun","raw_affiliation_strings":["Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022113595","display_name":"Wei He","orcid":"https://orcid.org/0000-0002-8944-9861"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["School of Automation and the Institute of Artificial Intelligence, Beijing Information Science and Technology University, Beijing, China","School of Automation and Institute of Artificial Intelligence, Beijing Information Science and Technology University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and the Institute of Artificial Intelligence, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"School of Automation and Institute of Artificial Intelligence, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5011058134"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.3234,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87627438,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"22","issue":null,"first_page":"15299","last_page":"15313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9538999795913696,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9538999795913696,"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.9182000160217285,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/computer-science","display_name":"Computer science","score":0.5377855896949768},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5353890657424927},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3947766423225403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3890957832336426},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3202960193157196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28732120990753174}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5377855896949768},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5353890657424927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3947766423225403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3890957832336426},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3202960193157196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28732120990753174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3565524","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3565524","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tase.2025.3565524","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2025.3565524","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G7006465202","display_name":null,"funder_award_id":"62225304, 62427813","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7493082852","display_name":null,"funder_award_id":"62225304","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8882458627","display_name":null,"funder_award_id":"62427813","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":49,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2077189588","https://openalex.org/W2088809818","https://openalex.org/W2099893201","https://openalex.org/W2103120971","https://openalex.org/W2261059368","https://openalex.org/W2477112723","https://openalex.org/W2557741120","https://openalex.org/W2583852342","https://openalex.org/W2962788405","https://openalex.org/W2963105220","https://openalex.org/W2963148914","https://openalex.org/W2963238245","https://openalex.org/W2963627347","https://openalex.org/W2968945909","https://openalex.org/W3012226486","https://openalex.org/W3022659297","https://openalex.org/W3034395814","https://openalex.org/W3034964128","https://openalex.org/W3035313359","https://openalex.org/W3133498163","https://openalex.org/W3145762295","https://openalex.org/W3195647294","https://openalex.org/W4205749794","https://openalex.org/W4246226690","https://openalex.org/W4281776977","https://openalex.org/W4283785867","https://openalex.org/W4292249799","https://openalex.org/W4312561363","https://openalex.org/W4313173809","https://openalex.org/W4313703173","https://openalex.org/W4377971355","https://openalex.org/W4383108357","https://openalex.org/W4383108947","https://openalex.org/W4386083121","https://openalex.org/W4386085840","https://openalex.org/W4386432062","https://openalex.org/W4386702918","https://openalex.org/W4388065116","https://openalex.org/W4389666913","https://openalex.org/W4389879652","https://openalex.org/W4390224260","https://openalex.org/W4394745351","https://openalex.org/W4400762160","https://openalex.org/W6637131181","https://openalex.org/W6678092311","https://openalex.org/W6739778489","https://openalex.org/W6784729325","https://openalex.org/W6785954647"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1],"operating":[2],"in":[3,48,137,196,213],"diverse":[4],"scenarios":[5,199],"are":[6,62,102,113,189],"expected":[7],"to":[8,13,45,55,107,153,191],"safely":[9],"and":[10,16,27,36,160,182,187,200,210],"efficiently":[11],"adapt":[12,44],"new,":[14],"unknown,":[15],"cluttered":[17],"environments.":[18,202],"In":[19],"this":[20,175],"paper,":[21],"we":[22,51],"introduce":[23],"a":[24,148],"real-time":[25,208],"goal-seeking":[26],"exploration":[28],"framework":[29],"incorporating":[30],"novel":[31],"meta-signed":[32],"distance":[33,96],"functions":[34,41],"(MetaSDFs)":[35],"metabuffer":[37],"robust":[38],"control":[39],"barrier":[40],"(Meta-BRCBFs).":[42],"To":[43],"environmental":[46,169],"changes":[47],"real":[49],"time,":[50],"employ":[52],"Bayesian":[53,74],"meta-learning":[54],"construct":[56],"MetaSDFs.":[57],"Deep":[58],"neural":[59],"network":[60],"weights":[61],"initially":[63],"trained":[64,88],"offline,":[65],"followed":[66],"by":[67],"efficient":[68],"online":[69,78,95],"adaptation":[70],"at":[71,80],"the":[72,105,117,124,134,177],"last":[73],"layer,":[75],"allowing":[76],"for":[77,89],"updates":[79],"linear":[81],"time":[82],"complexity.":[83],"Each":[84],"MetaSDF":[85],"is":[86,222],"individually":[87],"its":[90],"corresponding":[91,109],"obstacle":[92],"class,":[93],"enhancing":[94],"estimation":[97],"accuracy.":[98],"Subsequently,":[99],"buffer":[100,132,149],"zones":[101],"constructed":[103],"around":[104],"MetaSDFs":[106],"establish":[108],"Meta-BRCBFs.":[110],"These":[111,203],"Meta-BRCBFs":[112],"activated":[114],"only":[115],"when":[116],"robot":[118,135],"enters":[119],"these":[120,130],"zones,":[121,133],"substantially":[122],"reducing":[123],"number":[125],"of":[126],"CBFs":[127],"required.":[128],"Outside":[129],"specified":[131],"remains":[136],"<italic":[138,154],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[139,155],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">goal-seeking</i>":[140],"mode,":[141,157],"focusing":[142],"on":[143],"task":[144,166],"completion.":[145],"After":[146],"entering":[147],"zone,":[150],"it":[151],"transitions":[152],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">exploration</i>":[156],"prioritizing":[158],"safety":[159,181,211],"exploring":[161],"safe":[162],"pathways,":[163],"effectively":[164],"balancing":[165],"execution":[167],"with":[168],"adaptability.":[170],"We":[171],"demonstrate":[172,192],"that,":[173],"under":[174],"framework,":[176],"system":[178],"achieves":[179],"both":[180,197],"asymptotic":[183],"stabilization.":[184],"Extensive":[185],"simulations":[186],"experiments":[188],"conducted":[190],"our":[193,206],"framework\u2019s":[194,207],"effectiveness":[195],"simulated":[198],"real-world":[201],"tests":[204],"confirm":[205],"capabilities":[209],"assurances":[212],"dynamic":[214],"settings":[215],"where":[216],"state-of-the-art":[217],"methods":[218],"fail.":[219],"The":[220],"video":[221],"available":[223],"at:":[224],"https://www.youtube.com/watch?v=C6eshldAMxA.":[225]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}