{"id":"https://openalex.org/W4402262049","doi":"https://doi.org/10.23919/acc60939.2024.10644877","title":"Lyapunov Neural Network with Region of Attraction Search","display_name":"Lyapunov Neural Network with Region of Attraction Search","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262049","doi":"https://doi.org/10.23919/acc60939.2024.10644877"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644877","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100693880","display_name":"Zili Wang","orcid":"https://orcid.org/0000-0002-5003-3092"},"institutions":[{"id":"https://openalex.org/I4210116219","display_name":"Engineering Systems (United States)","ror":"https://ror.org/02qg60849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zili Wang","raw_affiliation_strings":["Division of Systems Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems Engineering","institution_ids":["https://openalex.org/I4210116219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081816980","display_name":"Sean B. Andersson","orcid":"https://orcid.org/0000-0001-7575-3507"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean B. Andersson","raw_affiliation_strings":["Boston University,Division of Systems Engineering,Department of Mechanical Engineering,Boston,MA,USA,02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University,Division of Systems Engineering,Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031884953","display_name":"Roberto Tron","orcid":"https://orcid.org/0000-0002-6676-8595"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Tron","raw_affiliation_strings":["Boston University,Division of Systems Engineering,Department of Mechanical Engineering,Boston,MA,USA,02215"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University,Division of Systems Engineering,Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14122382,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3403","last_page":"3410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9993000030517578,"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/T10320","display_name":"Neural Networks and Applications","score":0.9993000030517578,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9940999746322632,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/attraction","display_name":"Attraction","score":0.7947969436645508},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6433436870574951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5808466672897339},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.495959609746933},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41465139389038086},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38586270809173584},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19250762462615967},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1449289619922638},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09989222884178162}],"concepts":[{"id":"https://openalex.org/C2778364177","wikidata":"https://www.wikidata.org/wiki/Q2247133","display_name":"Attraction","level":2,"score":0.7947969436645508},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6433436870574951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5808466672897339},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.495959609746933},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41465139389038086},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38586270809173584},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19250762462615967},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1449289619922638},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09989222884178162},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644877","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc60939.2024.10644877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G9792457","display_name":"Unified Vision-Based Motion Estimation and Control for Multiple and Complex Robots","funder_award_id":"2212051","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1833752784","https://openalex.org/W2092884371","https://openalex.org/W2148247550","https://openalex.org/W2802557767","https://openalex.org/W2950183737","https://openalex.org/W2970795963","https://openalex.org/W3105161877","https://openalex.org/W3117881175","https://openalex.org/W3125537303","https://openalex.org/W3158923205","https://openalex.org/W3175924829","https://openalex.org/W3186624155","https://openalex.org/W4205950066","https://openalex.org/W4210390142","https://openalex.org/W4226050962","https://openalex.org/W4250739957","https://openalex.org/W4281702405","https://openalex.org/W4301187031","https://openalex.org/W4315606134","https://openalex.org/W4376312053","https://openalex.org/W4382935831","https://openalex.org/W6751044371","https://openalex.org/W6753691991","https://openalex.org/W6765694979","https://openalex.org/W6767277667","https://openalex.org/W6838786885"],"related_works":["https://openalex.org/W4386786398","https://openalex.org/W2138293586","https://openalex.org/W4282832460","https://openalex.org/W4319783074","https://openalex.org/W4255464147","https://openalex.org/W2080052720","https://openalex.org/W1503179180","https://openalex.org/W4319778501","https://openalex.org/W2171384148","https://openalex.org/W2021797003"],"abstract_inverted_index":{"Deep":[0],"learning":[1,24],"methods":[2,25],"have":[3,26],"been":[4],"widely":[5],"used":[6],"in":[7,39,159,212],"robotic":[8],"applications,":[9],"making":[10],"learning-enabled":[11],"control":[12,54],"design":[13],"for":[14,72],"complex":[15],"nonlinear":[16],"systems":[17],"a":[18,64,73,77,81,88,94,99,134,149,165,176,200,209,213,227,232,255],"promising":[19],"direction.":[20],"Although":[21],"deep":[22],"reinforcement":[23],"demonstrated":[27],"impressive":[28],"empirical":[29],"performance,":[30],"they":[31],"lack":[32],"the":[33,70,103,118,192,206,242,249],"stability":[34],"guarantees":[35,47],"that":[36,63,102,116,153,172,185],"are":[37,57,120],"important":[38],"safety-critical":[40],"situations.":[41],"One":[42],"way":[43],"to":[44,49,126,190,221,248],"provide":[45],"these":[46],"is":[48,107,124],"learn":[50],"Lyapunov":[51,66,83,96,150,169,195],"certificates":[52,196],"alongside":[53],"policies.":[55],"There":[56],"three":[58],"related":[59],"problems:":[60],"1)":[61,129,163],"verify":[62],"given":[65,74,89,214],"function":[67,84,97,170],"candidate":[68],"satisfies":[69],"conditions":[71],"controller":[75,86,100,193],"on":[76,87],"region,":[78,90],"2)":[79,131,183],"find":[80,93,191,254],"valid":[82,95,202],"and":[85,91,98,130,175,182,194,198,231,237],"3)":[92],"such":[101],"region":[104,203],"of":[105,168,208],"attraction":[106],"as":[108,110,251,253],"large":[109],"possible.":[111],"Previous":[112],"work":[113],"has":[114],"shown":[115],"if":[117],"dynamics":[119],"piecewise":[121],"linear,":[122],"it":[123,239],"possible":[125],"solve":[127],"problems":[128],"by":[132,147,180,204,245],"solving":[133],"Mixed-Integer":[135],"Linear":[136],"Program":[137],"(MILP).":[138],"In":[139],"this":[140,145,186],"work,":[141],"we":[142],"build":[143],"upon":[144],"method":[146,220],"proposing":[148],"neural":[151],"network":[152],"considers":[154],"monotonicity":[155],"over":[156],"half":[157,246],"spaces":[158],"different":[160],"directions.":[161],"We":[162,217],"propose":[164],"specific":[166],"choice":[167],"architecture":[171],"ensures":[173],"non-negativity":[174],"unique":[177],"global":[178],"minimum":[179],"construction,":[181],"show":[184],"can":[187,240],"be":[188],"leveraged":[189],"faster":[197],"with":[199],"larger":[201,256],"maximizing":[205],"size":[207],"square":[210],"inscribed":[211],"level":[215],"set.":[216],"apply":[218],"our":[219],"a$2\\mathbf{D}$inverted":[222],"pendulum,":[223],"unicycle":[224],"path":[225],"following,":[226],"3-D":[228],"feedback":[229],"system,":[230,236],"4-D":[233],"cart":[234],"pole":[235],"demonstrate":[238],"shorten":[241],"training":[243],"time":[244],"compared":[247],"baseline,":[250],"well":[252],"ROA.":[257]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}