{"id":"https://openalex.org/W4400946772","doi":"https://doi.org/10.23919/ecc64448.2024.10591027","title":"Safe Collective Control Under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions","display_name":"Safe Collective Control Under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946772","doi":"https://doi.org/10.23919/ecc64448.2024.10591027"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10591027","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591027","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","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/A5017857965","display_name":"Clinton Enwerem","orcid":"https://orcid.org/0000-0002-4239-2941"},"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":"Clinton Enwerem","raw_affiliation_strings":["Institute for Systems Research, University of Maryland,Department of Electrical &#x0026; Computer Engineering,College Park,MD,USA,20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems Research, University of Maryland,Department of Electrical &#x0026; Computer Engineering,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044395526","display_name":"John S. Baras","orcid":"https://orcid.org/0000-0002-4955-8561"},"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":"John S. Baras","raw_affiliation_strings":["Institute for Systems Research, University of Maryland,Department of Electrical &#x0026; Computer Engineering,College Park,MD,USA,20742"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems Research, University of Maryland,Department of Electrical &#x0026; Computer Engineering,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":0.5572,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55449553,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3762","last_page":"3768"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9972000122070312,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9972000122070312,"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/control","display_name":"Control (management)","score":0.6030852198600769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5467814207077026},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45023924112319946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17587316036224365}],"concepts":[{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6030852198600769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467814207077026},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45023924112319946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17587316036224365}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc64448.2024.10591027","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc64448.2024.10591027","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G2108646872","display_name":null,"funder_award_id":"N00014-17- 1-2622","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2557055507","https://openalex.org/W2560504659","https://openalex.org/W2620840602","https://openalex.org/W2967909213","https://openalex.org/W2968945909","https://openalex.org/W3012097656","https://openalex.org/W4389403307","https://openalex.org/W4389421271","https://openalex.org/W6766807934","https://openalex.org/W6858961903"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,44,99,107,111,134,147,153,156,165],"problem":[3,90],"of":[4,8,102,155,175],"safely":[5],"coordinating":[6],"ensembles":[7],"identical":[9],"autonomous":[10],"agents":[11],"to":[12,57,98],"conduct":[13],"complex":[14],"missions":[15],"with":[16,171,187],"conflicting":[17],"safety":[18,196],"requirements":[19],"and":[20,31,37,70,85],"under":[21,179],"noisy":[22],"control":[23,27,34,60,103,131],"inputs.":[24],"Using":[25],"non-smooth":[26],"barrier":[28],"functions":[29],"(CBFs)":[30],"stochastic":[32,67,88],"model-predictive":[33],"as":[35,48],"springboards,":[36],"by":[38,80,106],"adopting":[39],"an":[40,142,161],"extrinsic":[41],"approach":[42],"where":[43,91],"ensemble":[45],"is":[46,96],"treated":[47],"a":[49,55,82,87,116,176,191],"unified":[50],"dynamic":[51],"entity,":[52],"we":[53,114,159,183],"devise":[54],"method":[56,78],"synthesize":[58],"safety-aware":[59],"inputs":[61,104,132],"for":[62,122,164],"uncertain":[63],"collectives.":[64],"Drawing":[65],"upon":[66],"CBF":[68,75,84,167],"theory":[69],"recent":[71],"developments":[72],"in":[73,125],"Boolean":[74],"composition,":[76],"our":[77],"proceeds":[79],"smoothing":[81,112],"Boolean-composed":[83],"solving":[86],"optimization":[89],"each":[92],"agent's":[93],"forcing":[94],"term":[95],"restricted":[97],"affine":[100],"subspace":[101],"certified":[105],"combined":[108],"CBF.":[109],"For":[110],"step,":[113],"employ":[115],"polynomial":[117],"approximation":[118,143,168],"scheme,":[119],"providing":[120],"evidence":[121],"its":[123],"advantage":[124],"generating":[126],"more":[127,137],"conservative":[128],"yet":[129],"sufficiently-filtered":[130],"than":[133],"smoother":[135],"but":[136],"aggressive":[138],"equivalents":[139],"produced":[140],"from":[141,173],"technique":[144],"based":[145],"on":[146],"log-sum-exp":[148],"function.":[149],"To":[150],"further":[151],"demonstrate":[152],"utility":[154],"proposed":[157],"method,":[158],"present":[160],"upper":[162],"bound":[163],"expected":[166],"error,":[169],"along":[170],"results":[172,186],"simulations":[174],"single-integrator":[177],"collective":[178],"velocity":[180],"perturbations.":[181],"Lastly,":[182],"compare":[184],"these":[185],"those":[188],"obtained":[189],"using":[190],"naive":[192],"state-feedback":[193],"controller":[194],"lacking":[195],"filters.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
