{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T16:54:34Z","timestamp":1775667274408,"version":"3.50.1"},"reference-count":41,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1849213"],"award-info":[{"award-number":["1849213"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000199","name":"US Department of Agriculture","doi-asserted-by":"crossref","award":["2024-69014-42393"],"award-info":[{"award-number":["2024-69014-42393"]}],"id":[{"id":"10.13039\/100000199","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100000181","name":"Air Force Office of Scientific Research","doi-asserted-by":"publisher","award":["FA9550-20-1-0028"],"award-info":[{"award-number":["FA9550-20-1-0028"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Contr. Syst. Technol."],"published-print":{"date-parts":[[2025,11]]},"DOI":"10.1109\/tcst.2025.3587198","type":"journal-article","created":{"date-parts":[[2025,8,6]],"date-time":"2025-08-06T18:02:28Z","timestamp":1754503348000},"page":"2255-2270","source":"Crossref","is-referenced-by-count":2,"title":["Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic Environments"],"prefix":"10.1109","volume":"33","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-3040-0726","authenticated-orcid":false,"given":"Amirsaeid","family":"Safari","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2302-2152","authenticated-orcid":false,"given":"Jesse B.","family":"Hoagg","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY, USA"}]}],"member":"263","reference":[{"key":"ref1","article-title":"Heterogeneous ground and air platforms, homogeneous sensing: Team CSIRO Data61\u2019s approach to the DARPA subterranean challenge","author":"Hudson","year":"2021","journal-title":"arXiv:2104.09053"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2030225"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105157"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICCSIT.2010.5565069"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-020-09949-2"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2900535"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-104941"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2007.902736"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2015.2444131"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2008.11.017"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7040372"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796030"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2022.3175628"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2021.3130782"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2023.111109"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.3182\/20070822-3-za-2920.00076"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2021.3089639"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7524935"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2021.3105491"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483029"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147463"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341190"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.23919\/ACC55779.2023.10156278"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3070250"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2024.111921"},{"key":"ref27","article-title":"A closed-form control for safety under input constraints using a composition of control barrier functions","author":"Rabiee","year":"2024","journal-title":"arXiv:2406.16874"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.23919\/ACC60939.2024.10644151"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2018.2853182"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2018.8619113"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2017.2710943"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2895125"},{"key":"ref33","article-title":"Sensor-based distributionally robust control for safe robot navigation in dynamic environments","author":"Long","year":"2024","journal-title":"arXiv:2405.18251"},{"key":"ref34","article-title":"Incremental composition of learned control barrier functions in unknown environments","author":"Lutkus","year":"2024","journal-title":"arXiv:2409.12382"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2022.3168240"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.23919\/ACC60939.2024.10644256"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-8176-4606-6"},{"key":"ref38","volume-title":"Control of Nonlinear Systems","author":"Khalil","year":"2002"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45000-9_8"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636243"},{"key":"ref41","article-title":"Quadrotor dynamics and control rev 0.1","author":"Beard","year":"2008"}],"container-title":["IEEE Transactions on Control Systems Technology"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/87\/11214702\/11118986-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/87\/11214702\/11118986.pdf?arnumber=11118986","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T04:41:57Z","timestamp":1761280917000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11118986\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11]]},"references-count":41,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tcst.2025.3587198","relation":{},"ISSN":["1063-6536","1558-0865","2374-0159"],"issn-type":[{"value":"1063-6536","type":"print"},{"value":"1558-0865","type":"electronic"},{"value":"2374-0159","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11]]}}}