{"id":"https://openalex.org/W3158914004","doi":"https://doi.org/10.1145/3447928.3456703","title":"AROC","display_name":"AROC","publication_year":2021,"publication_date":"2021-05-04","ids":{"openalex":"https://openalex.org/W3158914004","doi":"https://doi.org/10.1145/3447928.3456703","mag":"3158914004"},"language":"en","primary_location":{"id":"doi:10.1145/3447928.3456703","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3447928.3456703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1615633","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042624051","display_name":"Niklas Kochdumper","orcid":"https://orcid.org/0000-0001-6017-7623"},"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":"Niklas Kochdumper","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027137439","display_name":"Felix Gruber","orcid":"https://orcid.org/0000-0003-0547-5139"},"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":"Felix Gruber","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, 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":["Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053659260","display_name":"Victor Ga\u00dfmann","orcid":"https://orcid.org/0000-0003-3674-7045"},"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":"Victor Ga\u00dfmann","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050613797","display_name":"Moritz Klischat","orcid":"https://orcid.org/0000-0003-0960-9747"},"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":"Moritz Klischat","raw_affiliation_strings":["Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, 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":["Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5042624051"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.1638,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80293102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9991000294685364,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9973999857902527,"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/toolbox","display_name":"Toolbox","score":0.8550450801849365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6895124912261963},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6518439054489136},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5707187652587891},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5253854393959045},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5188016295433044},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.5173130035400391},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48796218633651733},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4728914797306061},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47077155113220215},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44395846128463745},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4102358818054199},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32800349593162537},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26067569851875305},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.250684529542923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24791523814201355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13111010193824768},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10627463459968567},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08282583951950073}],"concepts":[{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.8550450801849365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6895124912261963},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6518439054489136},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5707187652587891},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5253854393959045},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5188016295433044},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.5173130035400391},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48796218633651733},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4728914797306061},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47077155113220215},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44395846128463745},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4102358818054199},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32800349593162537},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26067569851875305},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.250684529542923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24791523814201355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13111010193824768},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10627463459968567},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08282583951950073},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3447928.3456703","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3447928.3456703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1615633","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1615633","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1615633","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1615633","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1075038776","display_name":null,"funder_award_id":"817629","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G1819731195","display_name":null,"funder_award_id":"64392","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G665498748","display_name":null,"funder_award_id":"AL 1185/5-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1565544898","https://openalex.org/W1965640670","https://openalex.org/W1977164425","https://openalex.org/W1988705663","https://openalex.org/W2025697684","https://openalex.org/W2066425650","https://openalex.org/W2068384492","https://openalex.org/W2100538121","https://openalex.org/W2110762409","https://openalex.org/W2116554046","https://openalex.org/W2135688580","https://openalex.org/W2146577982","https://openalex.org/W2150335178","https://openalex.org/W2153219011","https://openalex.org/W2162805088","https://openalex.org/W2164451522","https://openalex.org/W2169289043","https://openalex.org/W2498074897","https://openalex.org/W2522742271","https://openalex.org/W2528262535","https://openalex.org/W2606061686","https://openalex.org/W2740508249","https://openalex.org/W2764291795","https://openalex.org/W2796295393","https://openalex.org/W2962822210","https://openalex.org/W2967935934","https://openalex.org/W3043037334","https://openalex.org/W3081975785"],"related_works":["https://openalex.org/W2136512912","https://openalex.org/W2377984624","https://openalex.org/W2348740175","https://openalex.org/W4243049533","https://openalex.org/W2372487761","https://openalex.org/W2342104405","https://openalex.org/W2130664212","https://openalex.org/W1554767603","https://openalex.org/W1565729639","https://openalex.org/W4382045631"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,39,77,99],"MATLAB":[3],"toolbox":[4,24,82],"for":[5,16,62,72],"<u>A</u>utomated":[6],"<u>R</u>eachset":[7],"<u>O</u>ptimal":[8],"<u>C</u>ontrol":[9],"(AROC)":[10],"that":[11],"automatically":[12],"synthesizes":[13],"verified":[14,35,46],"controllers":[15,61],"solving":[17],"reach-avoid":[18],"problems":[19],"using":[20,33],"reachability":[21],"analysis.":[22],"The":[23],"implements":[25],"two":[26],"different":[27],"types":[28],"of":[29,51,103],"control":[30,41],"approaches:":[31],"When":[32],"our":[34,81],"model":[36],"predictive":[37],"controller,":[38],"feasible":[40],"law":[42],"is":[43,96,113],"constructed":[44],"and":[45,69,92],"on-the-fly":[47],"during":[48],"online":[49,73],"application":[50],"the":[52,58],"system.":[53],"For":[54],"motion-primitive-based":[55],"control,":[56],"on":[57],"other":[59],"hand,":[60],"many":[63],"motion":[64,74],"primitives":[65],"are":[66],"synthesized":[67],"offline":[68],"then":[70],"used":[71],"planning":[75],"with":[76,87,108],"maneuver":[78],"automaton.":[79],"Since":[80],"considers":[83],"general":[84],"nonlinear":[85],"systems":[86],"input":[88],"constraints,":[89,91],"state":[90],"bounded":[93],"disturbances,":[94],"it":[95],"applicable":[97],"to":[98],"very":[100],"broad":[101],"class":[102],"systems,":[104],"as":[105],"we":[106],"demonstrate":[107],"several":[109],"numerical":[110],"examples.":[111],"AROC":[112],"available":[114],"at":[115],"https://aroc.in.tum.de.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-11T08:15:01.531666","created_date":"2021-05-10T00:00:00"}