{"id":"https://openalex.org/W4320170219","doi":"https://doi.org/10.1109/tcns.2023.3239562","title":"Decentralized Safe Control for Distributed Cyber-Physical Systems Using Real-Time Reachability Analysis","display_name":"Decentralized Safe Control for Distributed Cyber-Physical Systems Using Real-Time Reachability Analysis","publication_year":2023,"publication_date":"2023-01-24","ids":{"openalex":"https://openalex.org/W4320170219","doi":"https://doi.org/10.1109/tcns.2023.3239562"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2023.3239562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2023.3239562","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","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/A5051151589","display_name":"Luan Viet Nguyen","orcid":"https://orcid.org/0000-0001-5516-2443"},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luan Viet Nguyen","raw_affiliation_strings":["Department of Computer Science, University of Dayton, Dayton, OH, USA"],"raw_orcid":"https://orcid.org/0000-0001-5516-2443","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Dayton, Dayton, OH, USA","institution_ids":["https://openalex.org/I127591826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023289374","display_name":"Hoang-Dung Tran","orcid":"https://orcid.org/0000-0001-6946-9526"},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hoang-Dung Tran","raw_affiliation_strings":["School of Computing, University of Nebraska at Lincoln, Lincoln, NE, USA"],"raw_orcid":"https://orcid.org/0000-0001-6946-9526","affiliations":[{"raw_affiliation_string":"School of Computing, University of Nebraska at Lincoln, Lincoln, NE, USA","institution_ids":["https://openalex.org/I114395901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067901159","display_name":"Taylor T. Johnson","orcid":"https://orcid.org/0000-0001-8021-9923"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taylor Johnson","raw_affiliation_strings":["Department of Computer Science, Vanderbilt University, Nashville, TN, USA"],"raw_orcid":"https://orcid.org/0000-0001-8021-9923","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024301984","display_name":"Vijay Gupta","orcid":"https://orcid.org/0000-0001-7060-3956"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Gupta","raw_affiliation_strings":["Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":"https://orcid.org/0000-0001-7060-3956","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051151589"],"corresponding_institution_ids":["https://openalex.org/I127591826"],"apc_list":null,"apc_paid":null,"fwci":0.388,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61318375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"10","issue":"3","first_page":"1234","last_page":"1244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9987000226974487,"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":0.9987000226974487,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/reachability","display_name":"Reachability","score":0.9077709913253784},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.7974091172218323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7495230436325073},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6333272457122803},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.632402777671814},{"id":"https://openalex.org/keywords/cyber-physical-system","display_name":"Cyber-physical system","score":0.6147421002388},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5759192705154419},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4775591492652893},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43742167949676514},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42091360688209534},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3715313673019409},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3583609461784363},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.18674218654632568},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13369008898735046},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10719609260559082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08185100555419922}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9077709913253784},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7974091172218323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7495230436325073},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6333272457122803},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.632402777671814},{"id":"https://openalex.org/C179768478","wikidata":"https://www.wikidata.org/wiki/Q1120057","display_name":"Cyber-physical system","level":2,"score":0.6147421002388},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5759192705154419},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4775591492652893},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43742167949676514},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42091360688209534},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3715313673019409},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3583609461784363},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.18674218654632568},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13369008898735046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10719609260559082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08185100555419922},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcns.2023.3239562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2023.3239562","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1470115129","display_name":null,"funder_award_id":"FA8750-18-C-0089","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G321760580","display_name":null,"funder_award_id":"2220418","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G3953616208","display_name":null,"funder_award_id":"2028001","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G5784413458","display_name":null,"funder_award_id":"FA9550-22-1-0019","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"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":45,"referenced_works":["https://openalex.org/W172589331","https://openalex.org/W856973001","https://openalex.org/W1498285565","https://openalex.org/W1532859487","https://openalex.org/W1604596197","https://openalex.org/W1891915427","https://openalex.org/W1905380539","https://openalex.org/W1979743043","https://openalex.org/W1994335503","https://openalex.org/W2010725166","https://openalex.org/W2021667711","https://openalex.org/W2043994158","https://openalex.org/W2073667763","https://openalex.org/W2103671225","https://openalex.org/W2107872611","https://openalex.org/W2115796899","https://openalex.org/W2147340401","https://openalex.org/W2154867660","https://openalex.org/W2176215692","https://openalex.org/W2221045814","https://openalex.org/W2256864923","https://openalex.org/W2470448410","https://openalex.org/W2540641548","https://openalex.org/W2613556501","https://openalex.org/W2737223130","https://openalex.org/W2766003913","https://openalex.org/W2767659666","https://openalex.org/W2772946107","https://openalex.org/W2795822186","https://openalex.org/W2904313094","https://openalex.org/W2904339943","https://openalex.org/W2948702705","https://openalex.org/W2950430092","https://openalex.org/W2955364893","https://openalex.org/W2962683513","https://openalex.org/W2962822210","https://openalex.org/W2972769943","https://openalex.org/W2974147052","https://openalex.org/W3038162487","https://openalex.org/W3046272654","https://openalex.org/W3137220996","https://openalex.org/W4256522330","https://openalex.org/W6685835594","https://openalex.org/W6731923558","https://openalex.org/W6780121735"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2143461633","https://openalex.org/W2150194458","https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2380814829","https://openalex.org/W2387511021"],"abstract_inverted_index":{"In":[0,94],"this":[1,95],"article,":[2],"we":[3,151],"present":[4],"a":[5,48,60,81,119,131,138,142,146,164,169],"decentralized":[6,159],"safe":[7],"control":[8,128],"(DSC)":[9],"approach":[10,135],"for":[11],"distributed":[12,139,170],"cyber-physical":[13],"systems":[14],"based":[15],"on":[16],"conducting":[17,168],"reachability":[18],"analysis":[19],"in":[20,41,80,161],"real":[21,162],"time.":[22],"Each":[23],"agent":[24,85,98],"can":[25,86,99,136],"periodically":[26],"compute":[27],"the":[28,42,51,56,84,97,101,109,113,153],"local":[29,35],"reachable":[30,53,68,78,107,115],"set":[31,54,69,121],"from":[32],"its":[33,66,105,126],"current":[34],"time":[36,39],"to":[37,55,70,117,157],"some":[38],"instant":[40],"near":[43],"future,":[44],"and":[45,76,112,124],"then":[46],"broadcast":[47],"message":[49],"containing":[50],"computed":[52,106],"other":[57],"agents":[58],"via":[59],"shared":[61],"communication":[62],"channel.":[63],"By":[64],"comparing":[65],"own":[67],"unsafe":[71,102,110],"regions":[72],"such":[73],"as":[74],"obstacles,":[75],"received":[77,114],"sets":[79,116],"peer-to-peer":[82],"manner,":[83],"predict":[87],"if":[88],"any":[89],"collision":[90],"may":[91],"exist":[92],"shortly.":[93],"circumstance,":[96],"utilize":[100],"intersection":[103],"of":[104,122,166],"set,":[108],"regions,":[111],"recalculate":[118],"new":[120],"waypoints":[123],"update":[125],"corresponding":[127],"strategies.":[129],"As":[130],"result,":[132],"our":[133],"DSC":[134,155],"ensure":[137],"system":[140],"achieving":[141],"mission":[143,172],"goal":[144],"with":[145,173],"collision-free":[147],"guarantee.":[148],"For":[149],"evaluation,":[150],"applied":[152],"proposed":[154],"method":[156],"perform":[158],"control,":[160],"time,":[163],"group":[165],"quadcopters":[167],"patrol":[171],"safety":[174],"guarantees.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}