{"id":"https://openalex.org/W3016043625","doi":"https://doi.org/10.1109/massw.2019.00023","title":"Efficient Safe Learning for Robotic Systems in Unstructured Environments","display_name":"Efficient Safe Learning for Robotic Systems in Unstructured Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3016043625","doi":"https://doi.org/10.1109/massw.2019.00023","mag":"3016043625"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/massw.2019.00023","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","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/A5087146422","display_name":"Sara Pohland","orcid":"https://orcid.org/0000-0003-2746-6372"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"funder","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sara Pohland","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Maryland"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Maryland","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071321544","display_name":"Sylvia Herbert","orcid":"https://orcid.org/0000-0002-3863-8945"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"funder","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvia Herbert","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC, Berkeley"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"funder","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC, Berkeley"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.135,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.388669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":61,"max":69},"biblio":{"volume":null,"issue":null,"first_page":"82","last_page":"86"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9968,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9968,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9917,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9817,"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/initialization","display_name":"Initialization","score":0.6346751}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.93746483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.78549004},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.71896124},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6905389},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6346751},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.44282472},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43224382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31533003},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.15073824},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10883093},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/massw.2019.00023","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":5,"referenced_works":["https://openalex.org/W1975236902","https://openalex.org/W2116364955","https://openalex.org/W2963525569","https://openalex.org/W2964040381","https://openalex.org/W3010970209"],"related_works":["https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2387511021","https://openalex.org/W2380814829","https://openalex.org/W2156446763","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W2136512912","https://openalex.org/W2127267268","https://openalex.org/W2067910792"],"abstract_inverted_index":{"Learning-based":[0],"control":[1,47,103,150,184],"schemes":[2],"that":[3],"can":[4],"preserve":[5],"safety":[6,35,70,86,130,134],"without":[7],"overly":[8],"constricting":[9],"the":[10,31,85,91,99,146,176,180],"learning":[11,24,46,149,166,183],"process":[12],"are":[13],"beneficial":[14],"to":[15,29,33,55,59,82,90,105,125,157,178,186],"ensure":[16],"safe":[17,45,148,165,182],"operation":[18],"while":[19],"a":[20,57,62,119],"robotic":[21,169],"system":[22,32,58],"is":[23],"about":[25],"its":[26,65,69],"environment":[27,66],"and":[28,67,161],"enable":[30,56],"update":[34,68,84],"guarantees":[36,71],"as":[37],"it":[38],"obtains":[39],"new":[40],"information.":[41],"A":[42],"previously":[43],"developed":[44,118],"scheme":[48,78,104,151,185],"was":[49,79],"successful":[50],"in":[51,141,189],"utilizing":[52,153],"reachability":[53,95,123,155],"analysis":[54,87,124,135,156],"safely":[60],"generate":[61],"model":[63],"of":[64,94,101,121,129],"based":[72],"on":[73],"this":[74,77,102,142],"model.":[75],"However,":[76],"not":[80],"able":[81],"efficiently":[83],"online,":[88],"due":[89],"computational":[92],"intensity":[93],"analysis.":[96],"This":[97,171],"limited":[98],"applicability":[100],"high-dimensional":[106,187],"systems,":[107],"which":[108],"suffer":[109],"most":[110],"from":[111],"high":[112],"computation":[113,127,159,173],"times.":[114],"Recent":[115],"work":[116,140],"has":[117],"method":[120],"warm-start":[122,154],"improve":[126],"time":[128,160,174],"updates":[131],"by":[132,152],"initializing":[133],"with":[136],"previous":[137,147],"computations.":[138],"The":[139],"paper":[143],"improves":[144],"upon":[145],"decrease":[158],"create":[162],"an":[163],"efficient":[164,181],"framework":[167],"for":[168],"systems.":[170],"lowered":[172],"presents":[175],"potential":[177],"apply":[179],"systems":[188],"unstructured":[190],"environments.":[191]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3016043625","counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-03-17T01:43:57.295297","created_date":"2020-04-17"}