{"id":"https://openalex.org/W4402264483","doi":"https://doi.org/10.23919/acc60939.2024.10644368","title":"Learning-Based Safety Critical Model Predictive Control Using Stochastic Control Barrier Functions","display_name":"Learning-Based Safety Critical Model Predictive Control Using Stochastic Control Barrier Functions","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402264483","doi":"https://doi.org/10.23919/acc60939.2024.10644368"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644368","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10644368","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/A5011634446","display_name":"Hossein Nejatbakhsh Esfahani","orcid":"https://orcid.org/0000-0003-3515-1645"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hossein Nejatbakhsh Esfahani","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113368695","display_name":"Sajad Ahmadi","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sajad Ahmadi","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086596463","display_name":"Javad Mohammadpour Velni","orcid":"https://orcid.org/0000-0001-8546-221X"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Javad Mohammadpour Velni","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":5.2975,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96726152,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1658","last_page":"1663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9979000091552734,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976000189781189,"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/computer-science","display_name":"Computer science","score":0.6144434809684753},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.552794337272644},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49994540214538574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17217320203781128}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6144434809684753},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.552794337272644},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49994540214538574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17217320203781128}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644368","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10644368","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/G7148014191","display_name":"GOALI/Collaborative Research: Control-Oriented Modeling and Predictive Control of High Efficiency Low-emission Natural Gas Engines","funder_award_id":"2302217","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2023250353","https://openalex.org/W2069671092","https://openalex.org/W2121863487","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2930426397","https://openalex.org/W2968945909","https://openalex.org/W3100789280","https://openalex.org/W3186317065","https://openalex.org/W4205468042","https://openalex.org/W4283726386","https://openalex.org/W4297792341","https://openalex.org/W4309803391","https://openalex.org/W4381549394","https://openalex.org/W6684205842"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W4248731570","https://openalex.org/W2556120871"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,39,50,115],"learning-based":[4],"safety-critical":[5,100],"Model":[6],"Predictive":[7],"Control":[8,15],"(MPC)":[9],"design":[10],"approach":[11],"based":[12,55],"on":[13,56],"stochastic":[14,41,59,70],"Barrier":[16],"Functions":[17],"(CBFs).":[18],"To":[19,93],"address":[20],"the":[21,30,44,57,64,68,82,86,90,95,98],"safety":[22],"concerns":[23],"and":[24,32,111],"tackle":[25],"model":[26],"uncertainties":[27],"in":[28,43,89],"both":[29],"MPC":[31,45],"CBF,":[33],"we":[34,103],"first":[35],"propose":[36],"to":[37,62],"use":[38],"parameterized":[40],"CBF":[42,71,77,87],"scheme.":[46],"We":[47],"next":[48],"devise":[49],"Reinforcement":[51],"Learning":[52],"(RL)-based":[53],"algorithm":[54],"proposed":[58,69,99],"CBF-MPC":[60],"scheme":[61],"learn":[63],"approximate":[65],"version":[66],"of":[67,85,97],"for":[72,114],"coping":[73],"with":[74],"an":[75],"unknown":[76],"model,":[78],"which":[79],"cannot":[80],"capture":[81],"correct":[83],"structure":[84],"used":[88],"real":[91],"environment.":[92],"illustrate":[94],"performance":[96],"control":[101],"approach,":[102],"examine":[104],"two":[105],"test":[106],"cases":[107],"including":[108],"trajectory":[109],"tracking":[110],"path":[112],"planning":[113],"wheeled":[116],"mobile":[117],"robot.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}