{"id":"https://openalex.org/W3127910092","doi":"https://doi.org/10.1109/tiv.2021.3058064","title":"Stability Control of Autonomous Ground Vehicles Using Control-Dependent Barrier Functions","display_name":"Stability Control of Autonomous Ground Vehicles Using Control-Dependent Barrier Functions","publication_year":2021,"publication_date":"2021-02-10","ids":{"openalex":"https://openalex.org/W3127910092","doi":"https://doi.org/10.1109/tiv.2021.3058064","mag":"3127910092"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2021.3058064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2021.3058064","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","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/A5101956002","display_name":"Yiwen Huang","orcid":"https://orcid.org/0000-0003-1100-3170"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiwen Huang","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0003-1100-3170","affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011843629","display_name":"Sze Zheng Yong","orcid":"https://orcid.org/0000-0002-2104-3128"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sze Zheng Yong","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0002-2104-3128","affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039958900","display_name":"Yan Chen","orcid":"https://orcid.org/0000-0003-3429-904X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Chen","raw_affiliation_strings":["Polytechnic School, Arizona State University, Tempe, AZ, USA"],"raw_orcid":"https://orcid.org/0000-0003-3429-904X","affiliations":[{"raw_affiliation_string":"Polytechnic School, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":4.4221,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.94892259,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"6","issue":"4","first_page":"699","last_page":"710"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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/T10524","display_name":"Traffic control and management","score":0.9979000091552734,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.8543086647987366},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6893907785415649},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6331770420074463},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6017574071884155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5276362299919128},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.522974967956543},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4330708980560303},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4304199516773224},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.41321420669555664},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40376177430152893},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3435933589935303},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1998976469039917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1769903302192688},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11188960075378418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08047434687614441}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.8543086647987366},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6893907785415649},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6331770420074463},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6017574071884155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5276362299919128},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.522974967956543},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4330708980560303},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4304199516773224},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.41321420669555664},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40376177430152893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3435933589935303},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1998976469039917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1769903302192688},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11188960075378418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08047434687614441},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tiv.2021.3058064","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2021.3058064","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Intelligent Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6827886567","display_name":null,"funder_award_id":"CNS-1943545","funder_id":"https://openalex.org/F4320322899","funder_display_name":"Georgian National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320322899","display_name":"Georgian National Science Foundation","ror":"https://ror.org/00xc87681"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1563025442","https://openalex.org/W1607353007","https://openalex.org/W1680579736","https://openalex.org/W1964703036","https://openalex.org/W1972149633","https://openalex.org/W1979818341","https://openalex.org/W1982641902","https://openalex.org/W2036442560","https://openalex.org/W2049271566","https://openalex.org/W2062373349","https://openalex.org/W2093769797","https://openalex.org/W2096078692","https://openalex.org/W2108871656","https://openalex.org/W2109151516","https://openalex.org/W2113672283","https://openalex.org/W2115122053","https://openalex.org/W2142283990","https://openalex.org/W2153389562","https://openalex.org/W2171505650","https://openalex.org/W2193245008","https://openalex.org/W2238345790","https://openalex.org/W2343568200","https://openalex.org/W2425842256","https://openalex.org/W2468433498","https://openalex.org/W2525042068","https://openalex.org/W2552172773","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2589869525","https://openalex.org/W2735546873","https://openalex.org/W2755111372","https://openalex.org/W2762159620","https://openalex.org/W2765203865","https://openalex.org/W2768471069","https://openalex.org/W2841721725","https://openalex.org/W2936182111","https://openalex.org/W2964849820","https://openalex.org/W2972756254","https://openalex.org/W2997517829","https://openalex.org/W3097917616","https://openalex.org/W4206148547","https://openalex.org/W4232854741","https://openalex.org/W6618867048","https://openalex.org/W6719963912","https://openalex.org/W6959016377"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W4241418540","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W2973568725","https://openalex.org/W1990264811","https://openalex.org/W2361097593","https://openalex.org/W2389538909"],"abstract_inverted_index":{"In":[0,39],"the":[1,33,59,102,115,122,130,135],"development":[2],"of":[3,32,61,134,149],"autonomous":[4],"ground":[5],"vehicles":[6],"(AGVs),":[7],"guaranteeing":[8],"vehicle":[9,28,46,108,116],"driving":[10,26],"safety":[11],"is":[12,30,56,68,74],"a":[13,44,50,62,107],"major":[14],"concern.":[15],"Among":[16],"various":[17],"aspects":[18],"that":[19,89,114],"need":[20],"to":[21,42],"be":[22,91],"thoughtfully":[23],"considered":[24],"for":[25,157],"safety,":[27],"stability":[29,47,109,127],"one":[31],"most":[34],"fundamental":[35],"and":[36,93,124,132,138,143,152],"important":[37],"factors.":[38],"this":[40],"paper,":[41],"describe":[43],"guaranteed":[45],"control":[48,79,110,139],"problem,":[49],"new":[51],"time-varying":[52,63,72,92,123],"control-dependent":[53,64,125],"invariant":[54,87],"set":[55],"introduced.":[57],"Correspondingly,":[58],"concept":[60],"barrier":[65,80],"function":[66],"(CDBF)":[67],"proposed.":[69],"The":[70],"proposed":[71,103,136],"CDBF":[73],"more":[75],"general":[76],"than":[77],"conventional":[78],"functions":[81],"(CBF),":[82],"since":[83],"we":[84,105],"additionally":[85],"consider":[86],"sets":[88],"can":[90],"control-dependent,":[94],"which":[95,112],"will":[96],"have":[97],"broader":[98],"applications.":[99],"Then,":[100],"using":[101],"framework,":[104],"design":[106],"algorithm,":[111],"guarantees":[113],"states":[117],"are":[118,141],"always":[119],"kept":[120],"in":[121],"lateral":[126],"regions.":[128],"Finally,":[129],"correctness":[131],"effectiveness":[133],"theory":[137],"method":[140],"verified":[142],"discussed":[144],"through":[145],"illustrative":[146],"simulation":[147],"results":[148],"high-speed":[150],"J-turn":[151],"double":[153],"lane":[154],"change":[155],"maneuvers":[156],"an":[158],"AGV.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}