{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T18:57:27Z","timestamp":1771613847801,"version":"3.50.1"},"reference-count":50,"publisher":"IEEE","license":[{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,5,13]],"date-time":"2024-05-13T00:00:00Z","timestamp":1715558400000},"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":[[2024,5,13]]},"DOI":"10.1109\/icra57147.2024.10610267","type":"proceedings-article","created":{"date-parts":[[2024,8,8]],"date-time":"2024-08-08T17:51:05Z","timestamp":1723139465000},"page":"11641-11648","source":"Crossref","is-referenced-by-count":2,"title":["Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments"],"prefix":"10.1109","author":[{"given":"Jingxing","family":"Qian","sequence":"first","affiliation":[{"name":"University of Toronto Institute for Aerospace Studies and the University of Toronto Robotics Institute"}]},{"given":"Siqi","family":"Zhou","sequence":"additional","affiliation":[{"name":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)"}]},{"given":"Nicholas Jianrui","family":"Ren","sequence":"additional","affiliation":[{"name":"University of Toronto Institute for Aerospace Studies and the University of Toronto Robotics Institute"}]},{"given":"Veronica","family":"Chatrath","sequence":"additional","affiliation":[{"name":"Technical University of Munich,Munich Institute of Robotics and Machine Intelligence (MIRMI)"}]},{"given":"Angela P.","family":"Schoellig","sequence":"additional","affiliation":[{"name":"University of Toronto Institute for Aerospace Studies and the University of Toronto Robotics Institute"}]}],"member":"263","reference":[{"key":"ref1","first-page":"1309","article-title":"Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age","volume-title":"IEEE Transactions on Robotics","volume":"32","author":"Cadena","year":"2016"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811877"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2022.XVIII.013"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.068"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.069"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-042920-020211"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2017.2753460"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21587"},{"key":"ref9","first-page":"826","article-title":"L1-GP: L1 adaptive control with bayesian learning","volume-title":"Proc. of the Learning for Dynamics and Control Conference","author":"Gahlawat"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2014.2319052"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796030"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460471"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3249564"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3275384"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3075644"},{"key":"ref16","doi-asserted-by":"crossref","DOI":"10.1145\/344779.344936","article-title":"Surfels: surface elements as rendering primitives","volume-title":"Proceedings of the 27th annual conference on Computer graphics and interactive techniques","author":"Pfister"},{"key":"ref17","first-page":"5854","article-title":"Learning meshes for dense visual slam","volume-title":"2019 IEEE\/CVF International Conference on Computer Vision (ICCV)","author":"Bloesch"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696650"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9321-0"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202315"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.178"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2923960"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196885"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2022.xviii.050"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2018.00015"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989538"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2018.00024"},{"key":"ref28","article-title":"Movable-object-aware visual SLAM via weakly supervised semantic segmentation","author":"Sun","year":"2019","journal-title":"ArXiv"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.079"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.3390\/app10124252"},{"key":"ref31","article-title":"DOT: dynamic object tracking for visual SLAM","author":"Ballester","year":"2020","journal-title":"CoRR"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593691"},{"key":"ref33","article-title":"Detect-fusion: Detecting and segmenting both known and unknown dynamic objects in real-time SLAM","author":"Hachiuma","year":"2019","journal-title":"BMVC"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560923"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794371"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981795"},{"key":"ref37","first-page":"2817","article-title":"Robust change detection based on neural descriptor fields","volume-title":"Proc. of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Fu"},{"key":"ref38","first-page":"8179","article-title":"3d vsg: Long-term semantic scene change prediction through 3d variable scene graphs","volume-title":"Proc. of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Looper"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487237"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ECC.2015.7330913"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029173"},{"key":"ref42","first-page":"708","article-title":"Learning for safety-critical control with control barrier functions","volume-title":"Proc. of the Learning for Dynamics and Control Conference","author":"Taylor"},{"key":"ref43","first-page":"466","article-title":"The Lyapunov neural network: Adaptive stability certification for safe learning of dynamical systems","volume-title":"Proc. of the Conference on Robot Learning","author":"Richards"},{"key":"ref44","first-page":"654","article-title":"Guaranteeing safety of learned perception modules via measurement-robust control barrier functions","volume-title":"Proc. of the Conference on Robot Learning","author":"Dean"},{"key":"ref45","first-page":"3679","article-title":"Dynamic control barrier function-based model predictive control to safety-critical obstacle-avoidance of mobile robot","volume-title":"2023 IEEE International Conference on Robotics and Automation (ICRA)","author":"Jian"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483029"},{"key":"ref47","first-page":"8129","article-title":"Comparative analysis of control barrier functions and artificial potential fields for obstacle avoidance","volume-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Singletary"},{"key":"ref48","first-page":"4423","article-title":"Fiesta: Fast incremental euclidean distance fields for online motion planning of aerial robots","volume-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Han"},{"key":"ref49","first-page":"2016","article-title":"Pybullet, a python module for physics simulation for games, robotics and machine learning","author":"Coumans"},{"key":"ref50","first-page":"1478","article-title":"Anytime motion planning using the rrt*","volume-title":"2011 IEEE International Conference on Robotics and Automation","author":"Karaman"}],"event":{"name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","location":"Yokohama, Japan","start":{"date-parts":[[2024,5,13]]},"end":{"date-parts":[[2024,5,17]]}},"container-title":["2024 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10609961\/10609862\/10610267.pdf?arnumber=10610267","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T05:46:39Z","timestamp":1723268799000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10610267\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,13]]},"references-count":50,"URL":"https:\/\/doi.org\/10.1109\/icra57147.2024.10610267","relation":{},"subject":[],"published":{"date-parts":[[2024,5,13]]}}}