{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T16:39:24Z","timestamp":1757608764410,"version":"3.44.0"},"reference-count":45,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["CCR-2112665,CPS-2038873,SLES-2331880,ECCS-2045834"],"award-info":[{"award-number":["CCR-2112665,CPS-2038873,SLES-2331880,ECCS-2045834"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11128869","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"9243-9250","source":"Crossref","is-referenced-by-count":1,"title":["ADMM-MCBF-LCA: A Layered Control Architecture for Safe Real-Time Navigation"],"prefix":"10.1109","author":[{"given":"Anusha","family":"Srikanthan","sequence":"first","affiliation":[{"name":"School of Engineering and Applied Science, University of Pennsylvania,Philadelphia,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yifan","family":"Xue","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Science, University of Pennsylvania,Philadelphia,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Science, University of Pennsylvania,Philadelphia,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nikolai","family":"Matni","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Science, University of Pennsylvania,Philadelphia,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nadia","family":"Figueroa","sequence":"additional","affiliation":[{"name":"School of Engineering and Applied Science, University of Pennsylvania,Philadelphia,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"volume-title":"The complexity of robot motion planning","year":"1988","author":"Canny","key":"ref1"},{"key":"ref2","article-title":"Towards a theory of control architecture: A quantitative framework for layered multi-rate control","author":"Matni","year":"2024","journal-title":"arXiv preprint"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2020.3008326"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561510"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2022.3184664"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642212"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917712421"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-071723-102940"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/21.44033"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2003.1273070"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363185"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2893676"},{"volume-title":"Learning for Adaptive and Reactive Robot Control: A Dynamical Systems Approach","year":"2022","author":"Billard","key":"ref13"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796030"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2021.3089097"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636670"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2023.3279029"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"volume-title":"No minima, no collisions: Combining modulation and control barrier function strategies for feasible dynamical collision avoidance","year":"2025","author":"Xue","key":"ref19"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3378179"},{"key":"ref21","first-page":"111","article-title":"Optimization-based control","volume-title":"California Institute of Technology","author":"Murray","year":"2009"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2005.1469949"},{"key":"ref23","article-title":"Augmented lagrangian meth-ods as layered control architectures","author":"Srikanthan","year":"2023","journal-title":"arXiv preprint"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483029"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3118965"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2021.3050609"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967981"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3349917"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/70.163777"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620144"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9287-y"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907685"},{"volume-title":"Learning for Adaptive and Reactive Robot Control: A Dynamical Systems Approach","year":"2022","author":"Billard","key":"ref33"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3279029"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-17933-9_4"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.23919\/acc63710.2025.11107805"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/9.86943"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611601"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"issue":"1","key":"ref40","first-page":"2909","article-title":"Cvxpy: A python-embedded modeling language for convex optimization","volume":"17","author":"Diamond","year":"2016","journal-title":"The Journal of Machine Learning Research"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-018-0139-4"},{"volume-title":"JAX: composable transformations of Python+NumPy programs","year":"2018","author":"Bradbury","key":"ref42"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3397083"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/CCTA.2017.8062713"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2025,5,19]]},"location":"Atlanta, GA, USA","end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11128869.pdf?arnumber=11128869","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:14:59Z","timestamp":1756880099000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11128869\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":45,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11128869","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}