{"id":"https://openalex.org/W3202248056","doi":"https://doi.org/10.1109/cdc45484.2021.9683600","title":"Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification","display_name":"Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W3202248056","doi":"https://doi.org/10.1109/cdc45484.2021.9683600","mag":"3202248056"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683600","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/145550","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039991188","display_name":"Ashkan Jasour","orcid":"https://orcid.org/0000-0002-4530-8311"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashkan Jasour","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028395418","display_name":"Weiqiao Han","orcid":"https://orcid.org/0000-0002-2778-0567"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weiqiao Han","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103258402","display_name":"Brian Williams","orcid":"https://orcid.org/0000-0003-0000-4354"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Williams","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7714,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84198385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4307","last_page":"4313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9959999918937683,"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":0.9959999918937683,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.991599977016449,"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/T11357","display_name":"Risk and Safety Analysis","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6311537027359009},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6184906363487244},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6152731776237488},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5829110145568848},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5428646802902222},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5034050345420837},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4717234969139099},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4503737986087799},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4206114411354065},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2637706696987152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09761974215507507}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6311537027359009},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6184906363487244},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6152731776237488},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5829110145568848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428646802902222},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5034050345420837},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4717234969139099},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4503737986087799},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4206114411354065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2637706696987152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09761974215507507},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683600","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/145550","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145550","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/145550","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145550","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306077","display_name":"Boeing","ror":"https://ror.org/04sm5zn07"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1967184028","https://openalex.org/W1967344706","https://openalex.org/W2067778155","https://openalex.org/W2083093559","https://openalex.org/W2097148013","https://openalex.org/W2101496914","https://openalex.org/W2165281529","https://openalex.org/W2167412190","https://openalex.org/W2229105208","https://openalex.org/W2536620281","https://openalex.org/W2729776805","https://openalex.org/W2767371863","https://openalex.org/W2895355463","https://openalex.org/W2966257892","https://openalex.org/W3090027660","https://openalex.org/W3158724210","https://openalex.org/W3177428007","https://openalex.org/W4210395751","https://openalex.org/W4255442211","https://openalex.org/W4399469378","https://openalex.org/W6745383769"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2799209613","https://openalex.org/W2793786119","https://openalex.org/W1507702947"],"abstract_inverted_index":{"In":[0,73,135],"this":[1,74],"paper,":[2,75],"we":[3,76,139,197],"address":[4,43],"the":[5,19,31,36,44,85,91,104,116,119,130,136,142,145,149,153,175,181,191,194,199,203],"real-time":[6],"risk-bounded":[7],"safety":[8,25,38,45,59,88,117,155,162,178,204],"verification":[9,46,205],"problem":[10,206],"of":[11,15,21,33,56,93,118,144,148,160,193,207],"continuous-time":[12],"state":[13,121],"trajectories":[14],"autonomous":[16,211],"systems":[17],"in":[18,90,101],"presence":[20,92],"uncertain":[22,37],"time-varying":[23],"nonlinear":[24,87],"constraints.":[26,39,163],"Risk":[27],"is":[28],"defined":[29],"as":[30],"probability":[32,95,146],"not":[34],"satisfying":[35],"Existing":[40],"approaches":[41],"to":[42,53,82,127,151,173,202],"problems":[47],"under":[48],"uncertainties":[49,57,63,132,150],"either":[50],"are":[51],"limited":[52],"particular":[54],"classes":[55],"and":[58,64,97,109,123,133,210],"constraints,":[60,66],"e.g.,":[61],"Gaussian":[62],"linear":[65],"or":[67],"rely":[68],"on":[69,170],"sampling":[70],"based":[71,169],"methods.":[72],"provide":[77],"a":[78,158],"fast":[79],"convex":[80,167],"algorithm":[81],"efficiently":[83],"evaluate":[84],"probabilistic":[86,154],"constraints":[89,156,179],"arbitrary":[94],"distributions":[96,147],"long":[98],"planning":[99,183],"horizons":[100],"real-time,":[102],"without":[103,186],"need":[105],"for":[106,129],"uncertainty":[107],"samples":[108],"time":[110,184,187],"discretization.":[111,188],"The":[112],"provided":[113,137,200],"approach":[114],"verifies":[115],"given":[120],"trajectory":[122],"its":[124],"neighborhood":[125],"(tube)":[126],"account":[128],"execution":[131],"risk.":[134],"approach,":[138],"first":[140],"use":[141,166],"moments":[143],"transform":[152],"into":[157],"set":[159],"deterministic":[161,177],"We":[164],"then":[165],"methods":[168],"sum-of-squares":[171],"polynomials":[172],"verify":[174],"obtained":[176],"over":[180],"entire":[182],"horizon":[185],"To":[189],"illustrate":[190],"performance":[192],"proposed":[195],"method,":[196],"apply":[198],"method":[201],"self-driving":[208],"vehicles":[209],"aerial":[212],"vehicles.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
