{"id":"https://openalex.org/W4379409148","doi":"https://doi.org/10.1109/tro.2023.3277268","title":"Guarantees for Real Robotic Systems: Unifying Formal Controller Synthesis and Reachset-Conformant Identification","display_name":"Guarantees for Real Robotic Systems: Unifying Formal Controller Synthesis and Reachset-Conformant Identification","publication_year":2023,"publication_date":"2023-06-05","ids":{"openalex":"https://openalex.org/W4379409148","doi":"https://doi.org/10.1109/tro.2023.3277268"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3277268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3277268","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5035672626","display_name":"Stefan B. Liu","orcid":"https://orcid.org/0000-0001-5061-7795"},"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":"Stefan B. Liu","raw_affiliation_strings":["Department of Computer Engineering, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061752833","display_name":"Bastian Sch\u00fcrmann","orcid":"https://orcid.org/0000-0002-4760-5475"},"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":"Bastian Sch\u00fcrmann","raw_affiliation_strings":["Department of Computer Engineering, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"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":"Matthias Althoff","raw_affiliation_strings":["Department of Computer Engineering, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035672626"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.1944,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8747771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"39","issue":"5","first_page":"3776","last_page":"3790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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/T10142","display_name":"Formal Methods in Verification","score":0.9972000122070312,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8213592767715454},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.62099289894104},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6163821220397949},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6109724044799805},{"id":"https://openalex.org/keywords/transferability","display_name":"Transferability","score":0.603691816329956},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5706732273101807},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4354780614376068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40131014585494995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3484424650669098},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20717713236808777},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10112419724464417}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8213592767715454},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.62099289894104},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6163821220397949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6109724044799805},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.603691816329956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5706732273101807},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4354780614376068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40131014585494995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3484424650669098},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20717713236808777},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10112419724464417},{"id":"https://openalex.org/C140331021","wikidata":"https://www.wikidata.org/wiki/Q1868104","display_name":"Logit","level":2,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3277268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3277268","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":82,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1485333286","https://openalex.org/W1569692898","https://openalex.org/W1735418142","https://openalex.org/W1964582896","https://openalex.org/W1972149633","https://openalex.org/W1981723834","https://openalex.org/W1997370378","https://openalex.org/W2001694138","https://openalex.org/W2004529839","https://openalex.org/W2006625750","https://openalex.org/W2014993114","https://openalex.org/W2020883449","https://openalex.org/W2026290247","https://openalex.org/W2030033366","https://openalex.org/W2043178601","https://openalex.org/W2047339567","https://openalex.org/W2056052061","https://openalex.org/W2066425650","https://openalex.org/W2068384492","https://openalex.org/W2071775092","https://openalex.org/W2071797744","https://openalex.org/W2080256219","https://openalex.org/W2083725845","https://openalex.org/W2083802276","https://openalex.org/W2084166574","https://openalex.org/W2085195992","https://openalex.org/W2088465398","https://openalex.org/W2094599695","https://openalex.org/W2095274657","https://openalex.org/W2100538121","https://openalex.org/W2101610346","https://openalex.org/W2108794116","https://openalex.org/W2109067716","https://openalex.org/W2112840220","https://openalex.org/W2113265921","https://openalex.org/W2125711107","https://openalex.org/W2128531925","https://openalex.org/W2135688580","https://openalex.org/W2137562896","https://openalex.org/W2146577982","https://openalex.org/W2150335178","https://openalex.org/W2151958719","https://openalex.org/W2158223566","https://openalex.org/W2166197672","https://openalex.org/W2167757582","https://openalex.org/W2169289043","https://openalex.org/W2171900491","https://openalex.org/W2230652337","https://openalex.org/W2305588532","https://openalex.org/W2336884378","https://openalex.org/W2468924780","https://openalex.org/W2470025776","https://openalex.org/W2560504659","https://openalex.org/W2606061686","https://openalex.org/W2735485745","https://openalex.org/W2737223130","https://openalex.org/W2751537745","https://openalex.org/W2752215370","https://openalex.org/W2759950027","https://openalex.org/W2784743256","https://openalex.org/W2796061040","https://openalex.org/W2890223501","https://openalex.org/W2909664786","https://openalex.org/W2914841292","https://openalex.org/W2952879355","https://openalex.org/W2962709723","https://openalex.org/W2962822210","https://openalex.org/W2964791347","https://openalex.org/W2969218722","https://openalex.org/W2999881516","https://openalex.org/W3018475441","https://openalex.org/W3038336465","https://openalex.org/W3046050579","https://openalex.org/W3107034996","https://openalex.org/W3131580247","https://openalex.org/W3206591569","https://openalex.org/W3214937729","https://openalex.org/W4241709857","https://openalex.org/W4311081328","https://openalex.org/W6683433598","https://openalex.org/W6753991957"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439"],"abstract_inverted_index":{"Robots":[0],"are":[1],"used":[2],"increasingly":[3],"often":[4],"in":[5],"safety-critical":[6],"scenarios,":[7],"such":[8],"as":[9,32],"robotic":[10],"surgery":[11],"or":[12],"human\u2013robot":[13],"interaction.":[14],"To":[15],"ensure":[16],"stringent":[17],"performance":[18],"criteria,":[19],"formal":[20],"controller":[21,65],"synthesis":[22],"is":[23,47,93],"a":[24,61,98],"promising":[25],"direction":[26],"to":[27,40,87],"guarantee":[28],"that":[29],"robots":[30],"behave":[31],"desired.":[33],"However,":[34],"formally":[35],"ensured":[36],"properties":[37,82],"only":[38],"transfer":[39,86],"the":[41,45,58,68,73,77,80,84,88],"real":[42,78,89,99],"robot":[43],"when":[44],"model":[46,63,70,85],"appropriate.":[48],"In":[49],"this":[50,54],"article,":[51],"we":[52,103],"address":[53],"problem":[55],"by":[56,95],"combining":[57],"identification":[59],"of":[60,76,83],"reachset-conformant":[62,69],"with":[64],"synthesis.":[66],"Since":[67],"contains":[71],"all":[72],"measured":[74],"behaviors":[75],"robot,":[79,100],"safety":[81],"robot.":[90],"The":[91],"transferability":[92],"demonstrated":[94],"experiments":[96],"on":[97],"for":[101],"which":[102],"synthesize":[104],"tracking":[105],"controllers.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2023-06-06T00:00:00"}
