{"id":"https://openalex.org/W4382936341","doi":"https://doi.org/10.23919/acc55779.2023.10156463","title":"Safety Index Synthesis via Sum-of-Squares Programming","display_name":"Safety Index Synthesis via Sum-of-Squares Programming","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936341","doi":"https://doi.org/10.23919/acc55779.2023.10156463"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156463","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156463","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":"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/A5061774277","display_name":"Weiye Zhao","orcid":"https://orcid.org/0000-0002-8426-5238"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Weiye Zhao","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082052249","display_name":"Tairan He","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tairan He","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081793768","display_name":"Tianhao Wei","orcid":"https://orcid.org/0000-0003-2505-4585"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianhao Wei","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100607135","display_name":"Simin Liu","orcid":"https://orcid.org/0000-0003-2098-3844"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Simin Liu","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,USA,PA 15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5061774277"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.2357,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.95200434,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"732","last_page":"737"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9868000149726868,"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":0.9868000149726868,"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":0.9815999865531921,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9750000238418579,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/explained-sum-of-squares","display_name":"Explained sum of squares","score":0.5644515752792358},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5586903095245361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5171634554862976},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4985628128051758},{"id":"https://openalex.org/keywords/index","display_name":"Index (typography)","score":0.48701077699661255},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46608489751815796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4600939154624939},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4535079002380371},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.45022955536842346},{"id":"https://openalex.org/keywords/algebraic-number","display_name":"Algebraic number","score":0.431369423866272},{"id":"https://openalex.org/keywords/feasible-region","display_name":"Feasible region","score":0.4208880364894867},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2938634157180786},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19346994161605835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16789677739143372},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08207324147224426}],"concepts":[{"id":"https://openalex.org/C49847556","wikidata":"https://www.wikidata.org/wiki/Q3964631","display_name":"Explained sum of squares","level":2,"score":0.5644515752792358},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5586903095245361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5171634554862976},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4985628128051758},{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.48701077699661255},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46608489751815796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4600939154624939},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4535079002380371},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.45022955536842346},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.431369423866272},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.4208880364894867},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2938634157180786},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19346994161605835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16789677739143372},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08207324147224426},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156463","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156463","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/16","display_name":"Peace, Justice and strong institutions","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1967184028","https://openalex.org/W2325770295","https://openalex.org/W2968945909","https://openalex.org/W3011964880","https://openalex.org/W3143034939","https://openalex.org/W3159909972","https://openalex.org/W3163376802","https://openalex.org/W3198980715","https://openalex.org/W3199355711","https://openalex.org/W3203939728","https://openalex.org/W3217393716","https://openalex.org/W4210279164","https://openalex.org/W4287670739","https://openalex.org/W6800776581","https://openalex.org/W6801468180","https://openalex.org/W6802244827","https://openalex.org/W6804655846"],"related_works":["https://openalex.org/W1508692582","https://openalex.org/W3108245573","https://openalex.org/W2044899742","https://openalex.org/W2370399136","https://openalex.org/W2896088186","https://openalex.org/W2375103940","https://openalex.org/W1653893795","https://openalex.org/W1976920294","https://openalex.org/W1984390431","https://openalex.org/W1897805803"],"abstract_inverted_index":{"Control":[0],"systems":[1,61],"often":[2],"need":[3],"to":[4,15,68,84,98],"satisfy":[5],"strict":[6],"safety":[7,18,32,56,129,132],"requirements.":[8],"Safety":[9],"index":[10,33,57,130],"provides":[11],"a":[12,42,51,85],"handy":[13],"way":[14],"evaluate":[16],"the":[17,21,25,55,72,78,102,109,127],"level":[19],"of":[20,45,74,104,118],"system":[22],"and":[23,40,120,133],"derive":[24],"resulting":[26],"safe":[27,75,79],"control":[28,36,60,76],"policies.":[29],"However,":[30],"designing":[31],"functions":[34],"under":[35],"limits":[37],"is":[38,67,82,96,136],"difficult":[39],"requires":[41],"great":[43],"amount":[44],"expert":[46],"knowledge.":[47],"This":[48],"paper":[49],"proposes":[50],"framework":[52],"for":[53,58],"synthesizing":[54],"general":[59],"using":[62],"sum-of-squares":[63,99],"programming.":[64],"Our":[65],"approach":[66],"show":[69,125],"that":[70,93,126],"ensuring":[71],"non-emptiness":[73],"on":[77,112],"set":[80],"boundary":[81],"equivalent":[83,97],"local":[86],"manifold":[87],"positiveness":[88],"problem.":[89],"We":[90,107],"then":[91],"prove":[92],"this":[94],"problem":[95],"programming":[100],"via":[101],"Positivstellensatz":[103],"algebraic":[105],"geometry.":[106],"validate":[108],"proposed":[110],"method":[111,135],"robot":[113,141],"arms":[114],"with":[115],"different":[116],"degrees":[117],"freedom":[119],"ground":[121],"vehicles.":[122],"The":[123],"results":[124],"synthesized":[128],"guarantees":[131],"our":[134],"effective":[137],"even":[138],"in":[139],"high-dimensional":[140],"systems.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
