{"id":"https://openalex.org/W4403863300","doi":"https://doi.org/10.1109/tcst.2024.3470533","title":"Trust-Aware Safe Control for Autonomous Navigation: Estimation of System-to-Human Trust for Trust-Adaptive Control Barrier Functions","display_name":"Trust-Aware Safe Control for Autonomous Navigation: Estimation of System-to-Human Trust for Trust-Adaptive Control Barrier Functions","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403863300","doi":"https://doi.org/10.1109/tcst.2024.3470533"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3470533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3470533","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":true,"oa_status":"green","oa_url":"https://orbilu.uni.lu/bitstream/10993/62329/1/2307.12815v1_preprint.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092543671","display_name":"Saad Ejaz","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Saad Ejaz","raw_affiliation_strings":["Automation and Robotics Group, University of Luxembourg, Esch-sur-Alzette, Luxembourg"],"raw_orcid":"https://orcid.org/0009-0002-7704-5277","affiliations":[{"raw_affiliation_string":"Automation and Robotics Group, University of Luxembourg, Esch-sur-Alzette, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001331102","display_name":"Masaki Inoue","orcid":"https://orcid.org/0000-0003-2971-0877"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Inoue","raw_affiliation_strings":["Department of Applied Physics and Physico-Informatics, Keio University, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2971-0877","affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Physico-Informatics, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8388,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.86076987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"33","issue":"4","first_page":"1151","last_page":"1163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9718000292778015,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9283999800682068,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/control","display_name":"Control (management)","score":0.6890275478363037},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5621208548545837},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5592082142829895},{"id":"https://openalex.org/keywords/public-trust","display_name":"Public trust","score":0.4542924761772156},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4193423390388489},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.35022321343421936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19931545853614807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19230711460113525},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12278839945793152},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.11006399989128113},{"id":"https://openalex.org/keywords/public-relations","display_name":"Public relations","score":0.09815964102745056},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.05974113941192627}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6890275478363037},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5621208548545837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5592082142829895},{"id":"https://openalex.org/C2777825026","wikidata":"https://www.wikidata.org/wiki/Q3410431","display_name":"Public trust","level":2,"score":0.4542924761772156},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4193423390388489},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.35022321343421936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19931545853614807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19230711460113525},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12278839945793152},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.11006399989128113},{"id":"https://openalex.org/C39549134","wikidata":"https://www.wikidata.org/wiki/Q133080","display_name":"Public relations","level":1,"score":0.09815964102745056},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.05974113941192627}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2024.3470533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3470533","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"},{"id":"pmh:oai:orbilu.uni.lu:10993/62329","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/62329","pdf_url":"https://orbilu.uni.lu/bitstream/10993/62329/1/2307.12815v1_preprint.pdf","source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 33 (4), 1151-1163 (2024-10-29)","raw_type":"http://purl.org/coar/resource_type/c_6501"}],"best_oa_location":{"id":"pmh:oai:orbilu.uni.lu:10993/62329","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/62329","pdf_url":"https://orbilu.uni.lu/bitstream/10993/62329/1/2307.12815v1_preprint.pdf","source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Control Systems Technology, 33 (4), 1151-1163 (2024-10-29)","raw_type":"http://purl.org/coar/resource_type/c_6501"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G4997684885","display_name":"Weak Control for Human-in-the-loop Systems and its Application in Agricultural Environment","funder_award_id":"23K20255","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403863300.pdf"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1980569135","https://openalex.org/W2109135966","https://openalex.org/W2110379134","https://openalex.org/W2111025459","https://openalex.org/W2117948868","https://openalex.org/W2560504659","https://openalex.org/W2561106390","https://openalex.org/W2589131332","https://openalex.org/W2596322070","https://openalex.org/W2601424058","https://openalex.org/W2914120968","https://openalex.org/W2963125010","https://openalex.org/W2963287796","https://openalex.org/W2963901085","https://openalex.org/W2965029965","https://openalex.org/W2968945909","https://openalex.org/W3040259477","https://openalex.org/W3082399071","https://openalex.org/W3093495245","https://openalex.org/W3094340424","https://openalex.org/W3111064516","https://openalex.org/W3149568784","https://openalex.org/W3186317065","https://openalex.org/W3190674590","https://openalex.org/W3213918751","https://openalex.org/W4226195072","https://openalex.org/W4285102592","https://openalex.org/W4308080104","https://openalex.org/W4308080885","https://openalex.org/W4312124072","https://openalex.org/W4314945971","https://openalex.org/W4315472143","https://openalex.org/W4323870806","https://openalex.org/W4382935962","https://openalex.org/W4383108822","https://openalex.org/W4389665795","https://openalex.org/W4391769528","https://openalex.org/W6718471829","https://openalex.org/W6730703268","https://openalex.org/W6737835391","https://openalex.org/W6745935785","https://openalex.org/W6793164127","https://openalex.org/W6797717759","https://openalex.org/W6810852782"],"related_works":["https://openalex.org/W2576994247","https://openalex.org/W2608353378","https://openalex.org/W4249206767","https://openalex.org/W2563559453","https://openalex.org/W2382330008","https://openalex.org/W1519970947","https://openalex.org/W4243860260","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395"],"abstract_inverted_index":{"A":[0],"trust-aware":[1],"safe":[2,36],"control":[3,22,25],"system":[4,18,59,141],"for":[5],"autonomous":[6,99,156],"navigation":[7,39,157],"in":[8,40,61,110,142],"the":[9,44,54,92,98,111,116,121,137,140,151],"presence":[10],"of":[11,46,120,139,155],"humans,":[12],"specifically":[13],"pedestrians,":[14],"is":[15],"presented.":[16],"The":[17,134],"combines":[19],"model":[20],"predictive":[21],"(MPC)":[23],"with":[24],"barrier":[26],"functions":[27],"(CBFs)":[28],"and":[29,37,85,88,118,131,153],"system-to-human":[30],"trust":[31],"(SHT)":[32],"estimation":[33],"to":[34,51,101,149],"ensure":[35],"reliable":[38],"human-populated":[41],"environments.":[42],"In":[43],"context":[45],"this":[47],"article,":[48],"we":[49],"refer":[50],"SHT":[52,66],"as":[53,79],"confidence":[55],"score":[56],"that":[57],"a":[58,146],"has":[60],"an":[62],"agent/pedestrian\u2019s":[63],"attentiveness.":[64],"Pedestrian":[65],"values":[67],"are":[68,89],"computed":[69],"based":[70],"on":[71],"features,":[72],"extracted":[73],"from":[74],"camera":[75],"sensor":[76],"images,":[77],"such":[78],"mutual":[80],"eye":[81],"contact,":[82],"smartphone":[83],"usage,":[84],"pose":[86],"fluctuations":[87],"integrated":[90],"into":[91],"MPC":[93],"controller\u2019s":[94],"CBF":[95],"constraints,":[96],"allowing":[97],"vehicle":[100],"make":[102],"informed":[103],"decisions":[104],"considering":[105],"pedestrian":[106],"behavior.":[107],"Simulations":[108],"conducted":[109],"CARLA":[112],"driving":[113],"simulator":[114],"demonstrate":[115],"feasibility":[117],"effectiveness":[119],"proposed":[122],"system,":[123],"showcasing":[124],"more":[125],"conservative":[126],"behavior":[127],"around":[128],"inattentive":[129],"pedestrians":[130],"vice":[132],"versa.":[133],"results":[135],"highlight":[136],"practicality":[138],"real-world":[143],"applications,":[144],"providing":[145],"promising":[147],"approach":[148],"enhance":[150],"safety":[152],"efficiency":[154],"systems,":[158],"especially":[159],"self-driving":[160],"vehicles.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}