{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T16:16:03Z","timestamp":1771949763469,"version":"3.50.1"},"reference-count":27,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,12,14]],"date-time":"2021-12-14T00:00:00Z","timestamp":1639440000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,12,14]],"date-time":"2021-12-14T00:00:00Z","timestamp":1639440000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,12,14]],"date-time":"2021-12-14T00:00:00Z","timestamp":1639440000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,12,14]]},"DOI":"10.1109\/cdc45484.2021.9683655","type":"proceedings-article","created":{"date-parts":[[2022,2,1]],"date-time":"2022-02-01T20:50:18Z","timestamp":1643748618000},"page":"6829-6834","source":"Crossref","is-referenced-by-count":9,"title":["HJB Based Optimal Safe Control using Control Barrier Functions"],"prefix":"10.1109","author":[{"given":"Hassan","family":"Almubarak","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Evangelos A.","family":"Theodorou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nader","family":"Sadegh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.073"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147463"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1111\/j.1934-6093.1999.tb00002.x"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147721"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9303896"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796030"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7524935"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029455"},{"key":"ref18","article-title":"Recursive analytic solution of nonlinear optimal regulators","author":"sadegh","year":"0"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1002\/9781118122631"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-24743-2_32"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814783"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2003.1273063"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7040372"},{"key":"ref5","doi-asserted-by":"crossref","first-page":"462","DOI":"10.3182\/20070822-3-ZA-2920.00076","article-title":"Constructive safety using control barrier functions","volume":"40","author":"wieland","year":"2007","journal-title":"IFAC Proceedings Volumes"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7039737"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970791"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.12.011"},{"key":"ref1","doi-asserted-by":"crossref","first-page":"1747","DOI":"10.1016\/S0005-1098(99)00113-2","article-title":"Set invariance in control","volume":"35","author":"blanchini","year":"1999","journal-title":"Automatica"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1137\/0307007"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/0021-8928(61)90005-3"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.1998.694659"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1080\/002071798221542"},{"key":"ref23","author":"khalil","year":"2002","journal-title":"Nonlinear Systems"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-85949-6_2"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022664528457"}],"event":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","location":"Austin, TX, USA","start":{"date-parts":[[2021,12,14]]},"end":{"date-parts":[[2021,12,17]]}},"container-title":["2021 60th IEEE Conference on Decision and Control (CDC)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9682670\/9682776\/09683655.pdf?arnumber=9683655","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T16:58:06Z","timestamp":1652201886000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9683655\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,12,14]]},"references-count":27,"URL":"https:\/\/doi.org\/10.1109\/cdc45484.2021.9683655","relation":{},"subject":[],"published":{"date-parts":[[2021,12,14]]}}}