{"id":"https://openalex.org/W4382936245","doi":"https://doi.org/10.23919/acc55779.2023.10155868","title":"Chance-Constrained Control with Imperfect Perception Modules","display_name":"Chance-Constrained Control with Imperfect Perception Modules","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936245","doi":"https://doi.org/10.23919/acc55779.2023.10155868"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10155868","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc55779.2023.10155868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100739219","display_name":"Beomjun Kim","orcid":"https://orcid.org/0000-0003-0223-5973"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Beomjun Kim","raw_affiliation_strings":["Seoul National University,Department of Electrical and Computer Engineering,Seoul,South Korea","Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Electrical and Computer Engineering,Seoul,South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054872846","display_name":"Heejin Ahn","orcid":"https://orcid.org/0000-0001-9153-3491"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heejin Ahn","raw_affiliation_strings":["Seoul National University,Department of Electrical and Computer Engineering,Seoul,South Korea","Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Department of Electrical and Computer Engineering,Seoul,South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2568","last_page":"2573"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9958000183105469,"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/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7108675241470337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6786013841629028},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6329308748245239},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5895389318466187},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5388678312301636},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.5313454270362854},{"id":"https://openalex.org/keywords/sign","display_name":"Sign (mathematics)","score":0.5156072974205017},{"id":"https://openalex.org/keywords/constraint-satisfaction-problem","display_name":"Constraint satisfaction problem","score":0.5110563039779663},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4856663942337036},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.42551642656326294},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.423420786857605},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4206967353820801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34672728180885315},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19333159923553467},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15582802891731262},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.1252175271511078}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7108675241470337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6786013841629028},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6329308748245239},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5895389318466187},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5388678312301636},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.5313454270362854},{"id":"https://openalex.org/C139676723","wikidata":"https://www.wikidata.org/wiki/Q1193832","display_name":"Sign (mathematics)","level":2,"score":0.5156072974205017},{"id":"https://openalex.org/C199622910","wikidata":"https://www.wikidata.org/wiki/Q1128326","display_name":"Constraint satisfaction problem","level":3,"score":0.5110563039779663},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4856663942337036},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.42551642656326294},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.423420786857605},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4206967353820801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34672728180885315},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19333159923553467},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15582802891731262},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.1252175271511078},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10155868","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc55779.2023.10155868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1482087748","https://openalex.org/W1968355947","https://openalex.org/W1977985274","https://openalex.org/W1985291814","https://openalex.org/W2067713319","https://openalex.org/W2080813827","https://openalex.org/W2118496821","https://openalex.org/W2194775991","https://openalex.org/W2531327146","https://openalex.org/W2798302089","https://openalex.org/W2951875426","https://openalex.org/W3035498040","https://openalex.org/W3104409632","https://openalex.org/W3171935329","https://openalex.org/W4230900352","https://openalex.org/W4285203271","https://openalex.org/W6728622933","https://openalex.org/W6779371956","https://openalex.org/W6839965440","https://openalex.org/W7024690472"],"related_works":["https://openalex.org/W2252314269","https://openalex.org/W2161128834","https://openalex.org/W2091348864","https://openalex.org/W2569549435","https://openalex.org/W2012141606","https://openalex.org/W1550482496","https://openalex.org/W2784687883","https://openalex.org/W2102858635","https://openalex.org/W2012694101","https://openalex.org/W2470231588"],"abstract_inverted_index":{"Autonomous":[0],"systems":[1],"are":[2],"required":[3],"to":[4,30,103,134,140],"operate":[5],"in":[6,62],"different":[7],"environments,":[8],"but":[9,34],"recognizing":[10],"the":[11,44,50,77,86,98,105,130,137,176,184],"current":[12],"environment":[13],"is":[14],"often":[15],"challenging.":[16],"For":[17],"example,":[18,159],"an":[19,156],"autonomous":[20,157],"vehicle":[21,158],"should":[22],"stop":[23],"or":[24],"obey":[25],"a":[26,31,58,68,80,94,145,162],"speed":[27],"limit":[28],"according":[29],"traffic":[32,51,167],"sign,":[33],"state-of-the-art":[35],"perception":[36,59,131],"modules":[37],"(e.g.,":[38],"neural":[39,163,177],"networks)":[40],"do":[41,90],"not":[42,124],"guarantee":[43],"correctness":[45],"of":[46,49,57,79,82,107,119,129,175],"their":[47],"reading":[48],"sign.":[52],"Considering":[53],"such":[54],"uncertain":[55],"outputs":[56],"module,":[60],"which":[61,122],"effect":[63],"determines":[64],"modes,":[65],"we":[66,92,143,160],"propose":[67],"chance-constrained":[69],"control":[70],"formulation":[71,147],"that":[72,112,148,165,171],"with":[73,85,152,187],"high":[74,153,188],"probability":[75,106],"guarantees":[76,149,183],"satisfaction":[78,151,186],"set":[81],"constraints":[83,118],"associated":[84],"possible":[87],"modes.":[88],"To":[89],"this,":[91],"present":[93,144],"method":[95],"based":[96],"on":[97],"Bayes":[99],"rule":[100],"and":[101,169],"sampling":[102],"calculate":[104],"each":[108,173],"mode.":[109],"We":[110],"prove":[111],"our":[113,179],"approach":[114,182],"can":[115],"ensure":[116],"satisfying":[117],"novel":[120],"situations,":[121],"have":[123],"been":[125],"used":[126],"during":[127],"training":[128],"module.":[132],"Also,":[133],"account":[135],"for":[136],"error":[138],"due":[139],"limited":[141],"data,":[142],"robust":[146],"constraint":[150,185],"confidence.":[154],"In":[155],"train":[161],"network":[164],"classifies":[166],"signs":[168],"show":[170],"given":[172],"output":[174],"network,":[178],"motion":[180],"planning":[181],"probability.":[189]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}