{"id":"https://openalex.org/W7140619689","doi":"https://doi.org/10.48550/arxiv.2603.23753","title":"Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions","display_name":"Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions","publication_year":2026,"publication_date":"2026-03-24","ids":{"openalex":"https://openalex.org/W7140619689","doi":"https://doi.org/10.48550/arxiv.2603.23753"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.23753","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23753","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.23753","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130699202","display_name":"Kimia Forghani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Forghani, Kimia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023947592","display_name":"Suraj Raval","orcid":"https://orcid.org/0000-0003-2889-6841"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Raval, Suraj","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130646981","display_name":"Lamar Mair","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mair, Lamar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008331040","display_name":"Axel Krieger","orcid":"https://orcid.org/0000-0001-8169-075X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Krieger, Axel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5050664586","display_name":"Yancy Diaz-Mercado","orcid":"https://orcid.org/0000-0003-0288-0112"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Diaz-Mercado, Yancy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.21089999377727509,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.21089999377727509,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.19539999961853027,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.15209999680519104,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7839999794960022},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.738099992275238},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7239000201225281},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.6840999722480774},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.484499990940094},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4530999958515167},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.43869999051094055},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.43290001153945923}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7839999794960022},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.738099992275238},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7239000201225281},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6840999722480774},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.484499990940094},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4530999958515167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4481000006198883},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.43869999051094055},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39160001277923584},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.3797999918460846},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3765000104904175},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.3709999918937683},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.35190001130104065},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3296000063419342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.31349998712539673},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.3073999881744385},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.28949999809265137},{"id":"https://openalex.org/C147317941","wikidata":"https://www.wikidata.org/wiki/Q1925419","display_name":"Describing function","level":3,"score":0.28619998693466187},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.23753","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23753","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.23753","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.23753","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.40446317195892334}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Singularities":[0],"in":[1,35,56],"robotic":[2],"and":[3,33,38,72,105,118],"dynamical":[4],"systems":[5],"arise":[6],"when":[7],"the":[8,27,64,129],"mapping":[9,70],"from":[10,82],"control":[11,47,120],"inputs":[12],"to":[13,19,22,30,77,125,128],"task-space":[14],"motion":[15],"loses":[16],"rank,":[17],"leading":[18],"an":[20],"inability":[21],"determine":[23],"inputs.":[24],"This":[25,43],"limits":[26],"system's":[28],"ability":[29],"generate":[31],"forces":[32],"torques":[34],"desired":[36],"directions":[37],"prevents":[39],"accurate":[40],"trajectory":[41,112],"tracking.":[42],"paper":[44],"presents":[45],"a":[46,67,79,94,101,106],"barrier":[48,73],"function":[49,95],"(CBF)":[50],"framework":[51],"for":[52,86],"avoiding":[53,115],"such":[54],"singularities":[55],"control-affine":[57],"systems.":[58],"Singular":[59],"configurations":[60,117],"are":[61,75,91],"identified":[62],"through":[63],"eigenvalues":[65],"of":[66,96],"state-dependent":[68],"input-output":[69],"matrix,":[71],"functions":[74],"constructed":[76],"maintain":[78],"safety":[80,90],"margin":[81],"rank-deficient":[83],"regions.":[84],"Conditions":[85],"theoretical":[87],"guarantees":[88],"on":[89,100],"provided":[92],"as":[93],"actuator":[97],"dynamics.":[98],"Simulations":[99],"planar":[102],"2-link":[103],"manipulator":[104],"magnetically":[107],"actuated":[108],"needle":[109],"demonstrate":[110],"smooth":[111],"tracking":[113],"while":[114],"singular":[116],"reducing":[119],"input":[121],"spikes":[122],"by":[123],"up":[124],"100x":[126],"compared":[127],"nominal":[130],"controller.":[131]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-27T00:00:00"}