{"id":"https://openalex.org/W7166812984","doi":"https://doi.org/10.48550/arxiv.2606.30829","title":"Joint Chance Constrained Safe-Optimal Control","display_name":"Joint Chance Constrained Safe-Optimal Control","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166812984","doi":"https://doi.org/10.48550/arxiv.2606.30829"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.30829","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30829","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.2606.30829","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079232900","display_name":"Niklas Schmid","orcid":"https://orcid.org/0000-0002-8068-6967"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schmid, Niklas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051504252","display_name":"Jared Miller","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Miller, Jared","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139778304","display_name":"Tristan Zeller","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeller, Tristan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036714077","display_name":"Marta Fochesato","orcid":"https://orcid.org/0009-0002-0631-6463"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fochesato, Marta","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033819821","display_name":"Tobias Sutter","orcid":"https://orcid.org/0000-0003-1226-6845"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sutter, Tobias","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139805233","display_name":"John Lygeros","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lygeros, John","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.23800000548362732,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.23800000548362732,"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"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.12520000338554382,"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":0.11209999769926071,"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/markov-decision-process","display_name":"Markov decision process","score":0.7642999887466431},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6712999939918518},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.650600016117096},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.6082000136375427},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.571399986743927},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.521399974822998},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.5074999928474426},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4993000030517578},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4887000024318695},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.48559999465942383}],"concepts":[{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7642999887466431},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6712999939918518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6687999963760376},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6640999913215637},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.650600016117096},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.6082000136375427},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.571399986743927},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.521399974822998},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.5074999928474426},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4993000030517578},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4887000024318695},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.48559999465942383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44670000672340393},{"id":"https://openalex.org/C137631369","wikidata":"https://www.wikidata.org/wiki/Q7617831","display_name":"Stochastic programming","level":2,"score":0.43209999799728394},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.41850000619888306},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41200000047683716},{"id":"https://openalex.org/C170131372","wikidata":"https://www.wikidata.org/wiki/Q7617811","display_name":"Stochastic control","level":3,"score":0.3953999876976013},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3555999994277954},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3481000065803528},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.31310001015663147},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3075000047683716},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C173404611","wikidata":"https://www.wikidata.org/wiki/Q528588","display_name":"Constraint programming","level":3,"score":0.26010000705718994},{"id":"https://openalex.org/C8505890","wikidata":"https://www.wikidata.org/wiki/Q605095","display_name":"Budget constraint","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.30829","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30829","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.2606.30829","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30829","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":[{"score":0.8145214319229126,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,69,126,152],"consider":[1],"the":[2,15,36,80,96,105,119,156,166],"finite-time":[3],"optimal":[4,26],"control":[5,27],"of":[6,39,62,83,108,121],"stochastic":[7],"systems":[8],"subject":[9],"to":[10,33,47,53],"a":[11,90,109,135,185],"probabilistic":[12],"constraint":[13,51],"on":[14,155,184],"trajectories'":[16],"safety.":[17],"Such":[18],"formulations":[19],"are":[20,124],"known":[21],"as":[22,134,178,180],"joint":[23],"chance":[24],"constrained":[25,136],"problems.":[28],"The":[29,86],"common":[30],"practice":[31],"is":[32,67,102,114,170],"jointly":[34],"minimise":[35],"expected":[37,81],"cost":[38,82,97,120],"all":[40],"trajectories,":[41],"safe":[42,84],"and":[43,112],"unsafe.":[44],"This":[45,145],"leads":[46],"policies":[48],"which":[49],"invite":[50],"violations":[52],"exploit":[54],"low-cost":[55],"unsafe":[56,100],"trajectories.":[57,85],"When":[58],"constraints":[59],"represent":[60],"states":[61],"critical":[63],"failure,":[64],"such":[65],"behaviour":[66,73],"undesirable.":[68],"demonstrate":[70],"that":[71,123,128],"this":[72,129],"can":[74,131],"be":[75,132],"overcome":[76],"by":[77,99],"only":[78],"minimizing":[79,118],"underlying":[87],"rationale":[88],"follows":[89],"practical":[91],"intuition:":[92],"In":[93],"many":[94],"applications,":[95],"incurred":[98],"trajectories":[101,122],"irrelevant":[103],"(e.g.,":[104],"battery":[106],"usage":[107],"crashed":[110],"quadcopter),":[111],"one":[113],"usually":[115],"interested":[116],"in":[117,190],"safe.":[125],"show":[127],"problem":[130],"cast":[133],"Markov":[137],"Decision":[138],"Process":[139],"over":[140],"an":[141],"augmented":[142],"state":[143,168],"space.":[144],"allows":[146],"solving":[147],"it":[148],"via":[149],"dynamic":[150,176],"programming.":[151],"derive":[153],"bounds":[154],"policies'":[157],"safety":[158],"under":[159],"errors":[160],"resulting":[161],"from":[162],"gridding":[163],"approximations":[164],"when":[165],"system's":[167],"space":[169],"continuous.":[171],"Finally,":[172],"we":[173],"empirically":[174],"compare":[175],"programming":[177],"well":[179],"reinforcement":[181],"learning":[182],"solutions":[183],"simulated":[186],"2D":[187],"unicycle":[188],"system":[189],"cluttered":[191],"reach-avoid":[192],"environments.":[193]},"counts_by_year":[],"updated_date":"2026-07-02T06:18:51.028212","created_date":"2026-07-02T00:00:00"}