{"id":"https://openalex.org/W4394931215","doi":"https://doi.org/10.1145/3648004","title":"Cooperative Driving of Connected Autonomous vehicle using Responsibility Sensitive Safety Rules: A Control Barrier Functions Approach","display_name":"Cooperative Driving of Connected Autonomous vehicle using Responsibility Sensitive Safety Rules: A Control Barrier Functions Approach","publication_year":2024,"publication_date":"2024-04-18","ids":{"openalex":"https://openalex.org/W4394931215","doi":"https://doi.org/10.1145/3648004"},"language":"en","primary_location":{"id":"doi:10.1145/3648004","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3648004","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3648004","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3648004","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075996527","display_name":"Mohammad Khayatian","orcid":"https://orcid.org/0000-0003-4134-5008"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210119740","display_name":"Vecna Technologies (United States)","ror":"https://ror.org/031r5nr48","country_code":"US","type":"company","lineage":["https://openalex.org/I4210119740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad Khayatian","raw_affiliation_strings":["Vecna Robotics, Boston, United States","Vecna robotics, Boston, United States"],"raw_orcid":"https://orcid.org/0000-0003-4134-5008","affiliations":[{"raw_affiliation_string":"Vecna Robotics, Boston, United States","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Vecna robotics, Boston, United States","institution_ids":["https://openalex.org/I111088046","https://openalex.org/I4210119740"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103015256","display_name":"Mohammadreza Mehrabian","orcid":"https://orcid.org/0000-0002-9081-9049"},"institutions":[{"id":"https://openalex.org/I184647316","display_name":"South Dakota School of Mines and Technology","ror":"https://ror.org/00ch7yk27","country_code":"US","type":"education","lineage":["https://openalex.org/I184647316"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammadreza Mehrabian","raw_affiliation_strings":["South Dakota School of Mines and Technology, Rapid City, United States"],"raw_orcid":"https://orcid.org/0000-0002-9081-9049","affiliations":[{"raw_affiliation_string":"South Dakota School of Mines and Technology, Rapid City, United States","institution_ids":["https://openalex.org/I184647316"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113517456","display_name":"I-Ching Tseng","orcid":"https://orcid.org/0009-0008-3424-2389"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"I-Ching Tseng","raw_affiliation_strings":["National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0009-0008-3424-2389","affiliations":[{"raw_affiliation_string":"National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080854858","display_name":"Chung\u2010Wei Lin","orcid":"https://orcid.org/0000-0001-8309-7028"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chung-Wei Lin","raw_affiliation_strings":["Computer Science and Information Engineering, National Taiwan University, Taipei Taiwan","Computer Science and Information Engineering National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-8309-7028","affiliations":[{"raw_affiliation_string":"Computer Science and Information Engineering, National Taiwan University, Taipei Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Computer Science and Information Engineering National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086742095","display_name":"C\u0103lin Belta","orcid":"https://orcid.org/0000-0002-7141-2657"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Calin Belta","raw_affiliation_strings":["University of Maryland at College Park A James Clark School of Engineering, College Park, United States"],"raw_orcid":"https://orcid.org/0000-0002-7141-2657","affiliations":[{"raw_affiliation_string":"University of Maryland at College Park A James Clark School of Engineering, College Park, United States","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044172378","display_name":"Aviral Shrivastava","orcid":"https://orcid.org/0000-0002-1075-897X"},"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":"Aviral Shrivastava","raw_affiliation_strings":["Arizona State University, Phoenix, United States"],"raw_orcid":"https://orcid.org/0000-0002-1075-897X","affiliations":[{"raw_affiliation_string":"Arizona State University, Phoenix, United States","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03777979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":"3","first_page":"1","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9995999932289124,"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/T10524","display_name":"Traffic control and management","score":0.9995999932289124,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9987000226974487,"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/rss","display_name":"RSS","score":0.904260516166687},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5570013523101807},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.4906827211380005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4563913345336914},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43435704708099365},{"id":"https://openalex.org/keywords/accident","display_name":"Accident (philosophy)","score":0.4327061176300049},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.4304477572441101},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26563313603401184},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.24893143773078918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19358310103416443}],"concepts":[{"id":"https://openalex.org/C2385561","wikidata":"https://www.wikidata.org/wiki/Q45432","display_name":"RSS","level":2,"score":0.904260516166687},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5570013523101807},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.4906827211380005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4563913345336914},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43435704708099365},{"id":"https://openalex.org/C2780289543","wikidata":"https://www.wikidata.org/wiki/Q424630","display_name":"Accident (philosophy)","level":2,"score":0.4327061176300049},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.4304477572441101},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26563313603401184},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.24893143773078918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19358310103416443},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3648004","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3648004","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3648004","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3648004","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3648004","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3648004","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G325200764","display_name":"CPS: Synergy: Collaborative Research: TickTalk: Timing API for Federated Cyberphysical Systems","funder_award_id":"1645578","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5893449016","display_name":"TRUSTWORTHY, TIME-SENSITIVE, CYBER-PHYSICAL SYSTEMS","funder_award_id":"70NANB19H144","funder_id":"https://openalex.org/F4320332178","funder_display_name":"National Institute of Standards and Technology"},{"id":"https://openalex.org/G7121702328","display_name":"CSR: Small: Scaling the Real-time Capabilities of Powertrain Controller in Automotive Systems","funder_award_id":"1525855","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"},{"id":"https://openalex.org/F4320322724","display_name":"Ministry of Education, India","ror":"https://ror.org/048xjjh50"},{"id":"https://openalex.org/F4320331164","display_name":"National Science and Technology Council","ror":"https://ror.org/00wnb9798"},{"id":"https://openalex.org/F4320332178","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4394931215.pdf","grobid_xml":"https://content.openalex.org/works/W4394931215.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1976328863","https://openalex.org/W2045403423","https://openalex.org/W2063504315","https://openalex.org/W2084992924","https://openalex.org/W2120179083","https://openalex.org/W2130774864","https://openalex.org/W2155697783","https://openalex.org/W2496313774","https://openalex.org/W2508448572","https://openalex.org/W2513710103","https://openalex.org/W2570946799","https://openalex.org/W2606555570","https://openalex.org/W2625711513","https://openalex.org/W2741514873","https://openalex.org/W2749747771","https://openalex.org/W2772821814","https://openalex.org/W2782493803","https://openalex.org/W2897427413","https://openalex.org/W2909403850","https://openalex.org/W2910029067","https://openalex.org/W2963463709","https://openalex.org/W2963534555","https://openalex.org/W2979999966","https://openalex.org/W2980133010","https://openalex.org/W2984656825","https://openalex.org/W2987417105","https://openalex.org/W2989655362","https://openalex.org/W3002593840","https://openalex.org/W3011888914","https://openalex.org/W3046169356","https://openalex.org/W3047185941","https://openalex.org/W3116816778","https://openalex.org/W3151936073","https://openalex.org/W4297781990"],"related_works":["https://openalex.org/W426968574","https://openalex.org/W2365639220","https://openalex.org/W2382520895","https://openalex.org/W2393709043","https://openalex.org/W2080567403","https://openalex.org/W2539387137","https://openalex.org/W2374952201","https://openalex.org/W2374808384","https://openalex.org/W2385449752","https://openalex.org/W1979833094"],"abstract_inverted_index":{"Connected":[0],"Autonomous":[1],"Vehicles":[2],"(CAVs)":[3],"are":[4,67,169,317],"expected":[5,28],"to":[6,48,56,61,63,69,130,171,205,221,232,247,265],"enable":[7,222],"reliable,":[8],"efficient,":[9],"and":[10,34,176,236,253,291,303,319],"intelligent":[11],"transportation":[12],"systems.":[13],"Most":[14],"motion-planning":[15],"algorithms":[16],"for":[17,50,157,173,198,242],"multi-agent":[18],"systems":[19],"implicitly":[20],"assume":[21],"that":[22,81,124,142,149,201,267,315],"all":[23],"vehicles/agents":[24],"will":[25,143,153],"execute":[26],"the":[27,100,126,150,211,216,238,243,268,300,313],"plan":[29,59],"with":[30,215,312],"a":[31,72,82,112,119,139,162,195,257],"small":[32],"error":[33],"evaluate":[35,172],"their":[36,58],"safety":[37,122,234],"constraints":[38,235],"based":[39],"on":[40],"this":[41,191],"fact.":[42],"This":[43],"assumption,":[44],"however,":[45,168],"is":[46,79,102,118,161],"hard":[47,170],"keep":[49],"CAVs":[51,129,280],"since":[52],"they":[53,309,316],"may":[54,74,91],"have":[55,261],"change":[57],"(e.g.,":[60,71,104],"yield":[62],"another":[64],"vehicle)":[65],"or":[66,283],"forced":[68],"stop":[70],"CAV":[73,83,140,270],"break":[75],"down).":[76],"While":[77],"it":[78,90,147,160],"desired":[80],"never":[84],"gets":[85],"involved":[86],"in":[87,256],"an":[88,274],"accident,":[89,146],"be":[92,155,203],"hit":[93,106],"by":[94],"other":[95,279],"vehicles":[96,307],"and,":[97],"sometimes,":[98],"preventing":[99],"accident":[101,159,275],"impossible":[103],"getting":[105],"from":[107],"behind":[108],"while":[109],"waiting":[110],"at":[111],"red":[113],"light).":[114],"Responsibility-Sensitive":[115],"Safety":[116],"(RSS)":[117],"set":[120],"of":[121,128,133,137,225,306],"rules":[123,182,200,214],"defines":[125],"objective":[127],"blame,":[131],"instead":[132,136],"safety.":[134],"Thus,":[135],"developing":[138],"algorithm":[141,220],"avoid":[144],"any":[145,158,206],"ensures":[148],"ego":[151,244,269],"vehicle":[152],"not":[154,184,272],"blamed":[156],"part":[163],"of.":[164],"Original":[165],"RSS":[166,181,199,213],"rules,":[167],"merge,":[174],"intersection,":[175],"unstructured":[177],"road":[178],"scenarios,":[179],"plus":[180],"do":[183],"prevent":[185],"deadlock":[186,289],"situations":[187],"among":[188],"vehicles.":[189],"In":[190],"article,":[192],"we":[193,298],"propose":[194],"new":[196],"formulation":[197],"can":[202],"applied":[204],"driving":[207,224],"scenario.":[208],"We":[209,227,260,285],"integrate":[210],"proposed":[212],"CAV\u2019s":[217],"motion":[218],"planning":[219],"cooperative":[223],"CAVs.":[226],"use":[228],"Control":[229],"Barrier":[230],"Functions":[231],"enforce":[233],"compute":[237],"energy":[239],"optimal":[240],"trajectory":[241],"CAV.":[245],"Finally,":[246,297],"ensure":[248],"liveness,":[249],"our":[250,288,295],"approach":[251],"detects":[252],"resolves":[254],"deadlocks":[255],"decentralized":[258],"manner.":[259],"conducted":[262],"different":[263],"experiments":[264],"verify":[266],"does":[271],"cause":[273],"no":[276],"matter":[277],"when":[278,308],"slow":[281],"down":[282],"stop.":[284],"also":[286],"showcase":[287],"detection":[290],"resolution":[292],"mechanism":[293],"using":[294],"simulator.":[296],"compare":[299],"average":[301],"velocity":[302],"fuel":[304],"consumption":[305],"drive":[310],"autonomously":[311],"case":[314],"autonomous":[318],"connected.":[320]},"counts_by_year":[],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2024-04-19T00:00:00"}