{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T05:06:03Z","timestamp":1783141563254,"version":"3.54.6"},"reference-count":42,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"11","license":[{"start":{"date-parts":[[2023,11,1]],"date-time":"2023-11-01T00:00:00Z","timestamp":1698796800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"},{"start":{"date-parts":[[2023,11,1]],"date-time":"2023-11-01T00:00:00Z","timestamp":1698796800000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["1545126 (VeHICaL)"],"award-info":[{"award-number":["1545126 (VeHICaL)"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["1837132"],"award-info":[{"award-number":["1837132"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000185","name":"DARPA","doi-asserted-by":"publisher","award":["FA8750-18-C-0101 (AA)"],"award-info":[{"award-number":["FA8750-18-C-0101 (AA)"]}],"id":[{"id":"10.13039\/100000185","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Berkeley Deep Drive"},{"DOI":"10.13039\/100020457","name":"C3.ai Digital Transformation Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100020457","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Toyota through the iCyPhy Center"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Comput.-Aided Des. Integr. Circuits Syst."],"published-print":{"date-parts":[[2023,11]]},"DOI":"10.1109\/tcad.2023.3246386","type":"journal-article","created":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T20:49:34Z","timestamp":1676666974000},"page":"3679-3692","source":"Crossref","is-referenced-by-count":7,"title":["Ulgen: A Runtime Assurance Framework for Programming Safe Cyber\u2013Physical Systems"],"prefix":"10.1109","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9987-635X","authenticated-orcid":false,"given":"Beyazit","family":"Yalcinkaya","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9628-1200","authenticated-orcid":false,"given":"Hazem","family":"Torfah","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ankush","family":"Desai","sequence":"additional","affiliation":[{"name":"Amazon Web Services, Amazon Inc, Cupertino, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6190-8707","authenticated-orcid":false,"given":"Sanjit A.","family":"Seshia","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-25540-4_25"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1145\/2728606.2728628"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s10817-018-09509-5"},{"key":"ref34","first-page":"5","article-title":"ROS: An open-source robot operating system","volume":"3","author":"quigley","year":"2009","journal-title":"Proc ICRA Workshop Open Source Softw"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-22110-1_30"},{"key":"ref37","article-title":"Towards verified artificial intelligence","author":"seshia","year":"2016","journal-title":"arXiv 1606 08514"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-63486-5_40"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.21236\/AD1010277"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.004"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s10703-016-0241-z"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s10703-017-0286-7"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-55754-6_6"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1145\/3055004.3055022"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ACSD.2017.23"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-48683-6_3"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7039601"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v32i1.12107"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-60508-7_10"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-53288-8_6"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/MS.2001.936213"},{"key":"ref19","first-page":"386","article-title":"Robust execution of temporally flexible plans for bipedal walking devices","author":"hofmann","year":"2006","journal-title":"Proc ICAPS"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2017.8263867"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2030225"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/BF01995674"},{"key":"ref26","first-page":"206","article-title":"Generative planning for hybrid systems based on flow tubes","author":"li","year":"2008","journal-title":"Proc ICAPS"},{"key":"ref25","author":"lee","year":"2017","journal-title":"Introduction to Embedded Systems A Cyber- Physical Systems Approach"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-11164-3_20"},{"key":"ref42","year":"2022","journal-title":"open-source Mobile Robot Simulation Software"},{"key":"ref41","article-title":"Online monitoring of metric temporal logic using sequential networks","author":"ulus","year":"2019","journal-title":"arXiv 1901 00175"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-46681-0_15"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1023\/B:FORM.0000017719.43755.7c"},{"key":"ref28","first-page":"39","article-title":"Webots: Professional mobile robot simulation","volume":"1","author":"michel","year":"2004","journal-title":"J Adv Robot Syst"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-77935-5_23"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.851439"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1145\/2499370.2462184"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/DSN.2019.00027"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1145\/3276529"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2011.25"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/0304-3975(94)90010-8"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-67531-2_11"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1145\/3192366.3192406"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"}],"container-title":["IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/43\/10288105\/10048006-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/43\/10288105\/10048006.pdf?arnumber=10048006","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,8]],"date-time":"2023-11-08T19:02:55Z","timestamp":1699470175000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10048006\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,11]]},"references-count":42,"journal-issue":{"issue":"11"},"URL":"https:\/\/doi.org\/10.1109\/tcad.2023.3246386","relation":{},"ISSN":["0278-0070","1937-4151"],"issn-type":[{"value":"0278-0070","type":"print"},{"value":"1937-4151","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,11]]}}}