{"id":"https://openalex.org/W4382203285","doi":"https://doi.org/10.1109/tcst.2023.3286090","title":"Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles","display_name":"Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles","publication_year":2023,"publication_date":"2023-06-27","ids":{"openalex":"https://openalex.org/W4382203285","doi":"https://doi.org/10.1109/tcst.2023.3286090"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3286090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3286090","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","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/A5034352210","display_name":"An\u0131l Alan","orcid":"https://orcid.org/0000-0002-9778-8249"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anil Alan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9778-8249","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017747186","display_name":"Andrew J. Taylor","orcid":"https://orcid.org/0000-0002-5990-590X"},"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":"Andrew J. Taylor","raw_affiliation_strings":["Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5990-590X","affiliations":[{"raw_affiliation_string":"Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064714785","display_name":"Chaozhe R. He","orcid":"https://orcid.org/0000-0002-0299-8412"},"institutions":[{"id":"https://openalex.org/I80771471","display_name":"Navistar International (United States)","ror":"https://ror.org/03cd01b85","country_code":"US","type":"company","lineage":["https://openalex.org/I80771471"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chaozhe R. He","raw_affiliation_strings":["Navistar Inc., Lisle, IL, USA","Plus.ai Inc, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0299-8412","affiliations":[{"raw_affiliation_string":"Navistar Inc., Lisle, IL, USA","institution_ids":["https://openalex.org/I80771471"]},{"raw_affiliation_string":"Plus.ai Inc, Santa Clara, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"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":"Aaron D. Ames","raw_affiliation_strings":["Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0848-3177","affiliations":[{"raw_affiliation_string":"Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043415749","display_name":"G\u00e1bor Orosz","orcid":"https://orcid.org/0000-0002-9000-3736"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G\u00e1bor Orosz","raw_affiliation_strings":["Department of Mechanical Engineering and the Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9000-3736","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.7685,"has_fulltext":false,"cited_by_count":116,"citation_normalized_percentile":{"value":0.9924543,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"31","issue":"6","first_page":"2744","last_page":"2759"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12810","display_name":"Real-time simulation and control systems","score":0.9965000152587891,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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":0.5689350962638855},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5390687584877014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.450417697429657},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.342659592628479},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32890594005584717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17897242307662964},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1044238805770874}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5689350962638855},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5390687584877014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.450417697429657},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.342659592628479},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32890594005584717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17897242307662964},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1044238805770874}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2023.3286090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3286090","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G314058022","display_name":"CPS: Medium: Safety-Critical Cyber-Physical Systems: From Validation & Verification to Test & Evaluation","funder_award_id":"1932091","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W55814457","https://openalex.org/W1561445488","https://openalex.org/W1564897360","https://openalex.org/W1607353007","https://openalex.org/W1880805667","https://openalex.org/W1972149633","https://openalex.org/W1980569135","https://openalex.org/W2020588182","https://openalex.org/W2343696594","https://openalex.org/W2489231587","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2735010720","https://openalex.org/W2761389615","https://openalex.org/W2789826932","https://openalex.org/W2800992156","https://openalex.org/W2887154784","https://openalex.org/W2898971174","https://openalex.org/W2899251528","https://openalex.org/W2903863464","https://openalex.org/W2914264703","https://openalex.org/W2963148914","https://openalex.org/W2963995490","https://openalex.org/W2968945909","https://openalex.org/W2991303041","https://openalex.org/W2991966309","https://openalex.org/W2992533848","https://openalex.org/W3011888914","https://openalex.org/W3035859317","https://openalex.org/W3090132180","https://openalex.org/W3102238624","https://openalex.org/W3119862069","https://openalex.org/W3143034939","https://openalex.org/W3147298213","https://openalex.org/W3157612904","https://openalex.org/W3166543246","https://openalex.org/W3168522732","https://openalex.org/W3171845842","https://openalex.org/W3184816927","https://openalex.org/W3198546120","https://openalex.org/W3207637958","https://openalex.org/W3210379278","https://openalex.org/W3215339089","https://openalex.org/W4210279164","https://openalex.org/W4250589301","https://openalex.org/W4286375138","https://openalex.org/W4286908791","https://openalex.org/W4287185641","https://openalex.org/W4292249799","https://openalex.org/W4294429791","https://openalex.org/W4312945453","https://openalex.org/W6784988358","https://openalex.org/W6802055229","https://openalex.org/W6842903998"],"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":{"Balancing":[0],"safety":[1,22,74,85,164,182],"and":[2,75,107,173,193],"performance":[3,76],"is":[4,17],"one":[5],"of":[6,66,71,83,118,127,141,154],"the":[7,69,81,94,105,110,116,119,124,139,152,158,163,195],"predominant":[8],"challenges":[9,106],"in":[10,97,109,138,157,191],"modern":[11],"control":[12,40,43],"system":[13,161],"design.":[14],"Moreover,":[15],"it":[16],"crucial":[18],"to":[19,58],"robustly":[20],"ensure":[21],"without":[23,145,183],"inducing":[24],"unnecessary":[25],"conservativeness":[26],"that":[27,180],"degrades":[28],"performance.":[29,185],"In":[30,68],"this":[31],"work,":[32],"we":[33,55,122,150],"present":[34],"a":[35,49,53,89,133,142,146,177],"constructive":[36],"approach":[37,91],"for":[38,132,194],"safety-critical":[39,128],"synthesis":[41],"via":[42,52,130],"barrier":[44],"functions":[45],"(CBFs).":[46],"By":[47],"filtering":[48],"hand-designed":[50],"controller":[51,179],"CBF,":[54],"are":[56,77],"able":[57],"attain":[59],"performant":[60],"behavior":[61],"while":[62],"providing":[63],"rigorous":[64],"guarantees":[65,165],"safety.":[67],"face":[70],"disturbances,":[72],"robust":[73,178],"simultaneously":[78],"achieved":[79],"through":[80],"notion":[82],"input-to-state":[84],"(ISSf).":[86],"We":[87,169,186],"take":[88],"tutorial":[90],"by":[92,167],"developing":[93],"CBF-design":[95],"methodology":[96],"parallel":[98],"with":[99],"an":[100,199],"inverted":[101],"pendulum":[102],"example,":[103],"making":[104],"sensitivities":[108],"design":[111,129,189],"process":[112],"concrete.":[113],"To":[114],"establish":[115],"capability":[117],"proposed":[120],"approach,":[121],"consider":[123],"practical":[125],"setting":[126],"CBFs":[131],"connected":[134],"automated":[135],"vehicle":[136],"(CAV)":[137],"form":[140],"class-8":[143],"truck":[144],"trailer.":[147],"Through":[148],"experimentation,":[149],"see":[151],"impact":[153],"unmodeled":[155],"disturbances":[156,172],"truck\u2019s":[159],"actuation":[160],"on":[162,198],"provided":[166],"CBFs.":[168],"characterize":[170],"these":[171],"using":[174],"ISSf,":[175],"produce":[176],"achieves":[181],"conceding":[184],"evaluate":[187],"our":[188],"both":[190],"simulation,":[192],"first":[196],"time":[197],"automotive":[200],"system,":[201],"experimentally.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":57},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
