{"id":"https://openalex.org/W7157352113","doi":"https://doi.org/10.48550/arxiv.2604.23863","title":"Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control","display_name":"Cooptimizing Safety and Performance Using Safety Value-Constrained Model Predictive Control","publication_year":2026,"publication_date":"2026-04-26","ids":{"openalex":"https://openalex.org/W7157352113","doi":"https://doi.org/10.48550/arxiv.2604.23863"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.23863","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.23863","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.2604.23863","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134750077","display_name":"Hao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134774642","display_name":"Nam Nguyen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nguyen, Nam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007294964","display_name":"Armand Jordana","orcid":"https://orcid.org/0000-0002-5552-9898"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jordana, Armand","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Righetti, Ludovic","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134781303","display_name":"Somil Bansal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bansal, Somil","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/T10791","display_name":"Advanced Control Systems Optimization","score":0.7896000146865845,"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":0.7896000146865845,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.0723000019788742,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10142","display_name":"Formal Methods in Verification","score":0.04520000144839287,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7506999969482422},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6488999724388123},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5307000279426575},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5019999742507935},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4683000147342682},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.460999995470047},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.43700000643730164},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.4311000108718872}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7506999969482422},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6488999724388123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5982000231742859},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5307000279426575},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5019999742507935},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4683000147342682},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.460999995470047},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44369998574256897},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.43700000643730164},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.4311000108718872},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.40790000557899475},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3573000133037567},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.33570000529289246},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3089999854564667},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3046000003814697},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29170000553131104},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.26489999890327454},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.25859999656677246}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.23863","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.23863","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.2604.23863","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.23863","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":{"Autonomous":[0],"systems":[1],"are":[2,82,188],"increasingly":[3],"deployed":[4],"in":[5,62],"real-world":[6],"environments,":[7],"where":[8],"they":[9],"must":[10],"achieve":[11],"high":[12],"performance":[13],"while":[14,178],"maintaining":[15,179],"safety":[16,36,54,94,132,144,176],"under":[17,91],"state":[18],"and":[19,85,97,141,153,167,174,186],"input":[20],"constraints.":[21],"Although":[22],"Model":[23],"Predictive":[24],"Control":[25],"(MPC)":[26],"provides":[27],"a":[28,43,53,63,98,130,157],"principled":[29],"framework":[30,150],"for":[31,135],"constrained":[32],"optimal":[33],"control,":[34],"guaranteeing":[35],"beyond":[37],"its":[38],"finite":[39],"planning":[40,72],"horizon":[41],"remains":[42],"fundamental":[44],"challenge.":[45],"In":[46,112],"this":[47],"work,":[48],"we":[49],"augment":[50],"MPC":[51,103,173],"with":[52],"value":[55,95,133],"function-based":[56],"terminal":[57,116,136],"constraint":[58,165],"that":[59,81,119],"enforces":[60],"membership":[61],"control-invariant":[64],"safe":[65],"set":[66,117],"at":[67],"the":[68,101,148,191],"end":[69],"of":[70,79],"each":[71],"horizon.":[73],"This":[74],"formulation":[75],"enables":[76],"real-time":[77],"synthesis":[78],"trajectories":[80],"both":[83],"high-performing":[84],"provably":[86],"safe.":[87],"We":[88,146],"show":[89],"that,":[90],"an":[92],"exact":[93],"function":[96,134],"feasible":[99],"initialization,":[100],"proposed":[102,149],"scheme":[104],"is":[105],"recursively":[106],"feasible,":[107],"thereby":[108],"ensuring":[109],"persistent":[110],"safety.":[111],"contrast":[113],"to":[114,170],"traditional":[115],"constructions":[118],"rely":[120],"on":[121,156,190],"local":[122],"linearizations":[123],"or":[124],"conservative":[125,140],"approximations,":[126],"our":[127],"approach":[128],"incorporates":[129],"reachability-based":[131],"constraints,":[137],"yielding":[138],"less":[139],"more":[142],"expressive":[143],"guarantees.":[145],"validate":[147],"through":[151],"simulation":[152],"hardware":[154],"experiments":[155,187],"Flexiv":[158],"Rizon":[159],"10s":[160],"manipulator.":[161],"Results":[162],"demonstrate":[163],"improved":[164],"satisfaction":[166],"robustness":[168],"compared":[169],"standard":[171],"state-constrained":[172],"reactive":[175],"filtering,":[177],"competitive":[180],"task":[181],"performance.":[182],"The":[183],"full":[184],"implementation":[185],"available":[189],"project":[192],"website.":[193]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-29T00:00:00"}
