{"id":"https://openalex.org/W7151375290","doi":"https://doi.org/10.48550/arxiv.2604.03536","title":"SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints","display_name":"SafeSpace: Aggregating Safe Sets from Backup Control Barrier Functions under Input Constraints","publication_year":2026,"publication_date":"2026-04-04","ids":{"openalex":"https://openalex.org/W7151375290","doi":"https://doi.org/10.48550/arxiv.2604.03536"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.03536","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.03536","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.03536","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133064664","display_name":"Pio Ong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ong, Pio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114368131","display_name":"David E. J. van Wijk","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"van Wijk, David E. J.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072171062","display_name":"Massimiliano de","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"de Sa, Massimiliano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133081100","display_name":"Joel W. Burdick","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Burdick, Joel W.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ames, Aaron D.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T10142","display_name":"Formal Methods in Verification","score":0.6725000143051147,"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":0.6725000143051147,"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":0.05209999904036522,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.04690000042319298,"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/backup","display_name":"Backup","score":0.8256999850273132},{"id":"https://openalex.org/keywords/certification","display_name":"Certification","score":0.579800009727478},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.529699981212616},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.517300009727478},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4643000066280365},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.43799999356269836},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.3928000032901764},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.3418000042438507}],"concepts":[{"id":"https://openalex.org/C2780945871","wikidata":"https://www.wikidata.org/wiki/Q194274","display_name":"Backup","level":2,"score":0.8256999850273132},{"id":"https://openalex.org/C46304622","wikidata":"https://www.wikidata.org/wiki/Q374814","display_name":"Certification","level":2,"score":0.579800009727478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5665000081062317},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.529699981212616},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.517300009727478},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4643000066280365},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.41200000047683716},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.3928000032901764},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37400001287460327},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3418000042438507},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3366999924182892},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3352999985218048},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C15569618","wikidata":"https://www.wikidata.org/wiki/Q3561421","display_name":"Liveness","level":2,"score":0.2551000118255615},{"id":"https://openalex.org/C2777019822","wikidata":"https://www.wikidata.org/wiki/Q390066","display_name":"Containment (computer programming)","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.03536","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.03536","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.03536","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.03536","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":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Control":[0],"barrier":[1],"functions":[2],"(CBFs)":[3],"provide":[4],"a":[5,52,59,95,100,137],"principled":[6],"framework":[7,53,72,112],"for":[8,54],"enforcing":[9],"safety":[10,139,153],"in":[11,21],"control":[12,157],"systems":[13],"--":[14],"yet":[15],"the":[16,69,86,111,115,124,131,142,171],"certified":[17,39,61,164],"safe":[18,35,62,120,144,155,159,165],"operating":[19],"region":[20],"practice":[22],"is":[23,148],"often":[24],"conservative,":[25],"especially":[26],"under":[27,99],"input":[28],"bounds.":[29],"In":[30,85],"many":[31],"applications,":[32],"multiple":[33,118,163],"smaller":[34],"sets":[36,121],"can":[37],"be":[38],"independently,":[40],"e.g.,":[41],"around":[42],"distinct":[43],"equilibria":[44],"with":[45],"different":[46],"stabilizing":[47],"controllers.":[48],"This":[49],"paper":[50],"proposes":[51],"uniting":[55],"such":[56,92],"regions":[57,166],"into":[58],"single":[60],"set":[63],"using":[64],"\\emph{combinatorial":[65],"CBFs}.":[66],"We":[67,128],"refine":[68],"combinatorial":[70,97],"CBF":[71,126],"by":[73,123],"introducing":[74],"an":[75],"auxiliary":[76],"variable":[77],"that":[78,91,130],"enables":[79],"logical":[80],"compositions":[81,93],"of":[82,117],"individual":[83],"CBFs.":[84],"proposed":[87],"framework,":[88],"we":[89,109],"show":[90,129],"yield":[94],"\\emph{generalized":[96],"CBF}":[98],"condition":[101],"termed":[102],"\\emph{conjunctive":[103],"compatibility}.":[104],"Building":[105],"on":[106,150],"this":[107],"result,":[108],"extend":[110],"to":[113,169],"enable":[114],"aggregation":[116],"implicit":[119],"generated":[122],"backup":[125],"framework.":[127],"resulting":[132],"CBF-based":[133],"quadratic":[134],"program":[135],"yields":[136],"continuous":[138],"filter":[140],"over":[141],"aggregated":[143],"region.":[145],"The":[146],"approach":[147],"demonstrated":[149],"two":[151],"spacecraft":[152],"problems,":[154],"attitude":[156],"and":[158],"station":[160],"keeping,":[161],"where":[162],"are":[167],"combined":[168],"expand":[170],"operational":[172],"envelope.":[173]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-08T00:00:00"}
