{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T19:03:33Z","timestamp":1780513413670,"version":"3.54.1"},"reference-count":89,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"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":["CNS-1446151"],"award-info":[{"award-number":["CNS-1446151"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-2211141"],"award-info":[{"award-number":["CNS-2211141"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DMS-2153981"],"award-info":[{"award-number":["DMS-2153981"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2026]]},"DOI":"10.1109\/tro.2026.3663976","type":"journal-article","created":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T20:58:02Z","timestamp":1770843482000},"page":"1330-1350","source":"Crossref","is-referenced-by-count":1,"title":["Formal Specification and Control Synthesis of Autonomous Robots Using Rulebooks"],"prefix":"10.1109","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3977-122X","authenticated-orcid":false,"given":"Tichakorn","family":"Wongpiromsarn","sequence":"first","affiliation":[{"name":"Department of Computer Science, Iowa State University, Ames, IA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2426-7722","authenticated-orcid":false,"given":"Konstantin","family":"Slutsky","sequence":"additional","affiliation":[{"name":"Department of Mathematics, Iowa State University, Ames, IA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0505-1400","authenticated-orcid":false,"given":"Emilio","family":"Frazzoli","sequence":"additional","affiliation":[{"name":"Institute for Dynamic Systems and Control, ETH Zürich, Zürich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","article-title":"Responsibility-sensitive safety: An introduction with an eye to logical foundations and formalization","author":"Hasuo","year":"2022"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6579837"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-76384-8_3"},{"key":"ref4","article-title":"Code of federal regulations","year":"2020"},{"key":"ref5","volume-title":"Principles of Model Checking (Representation and Mind Series)","author":"Baier","year":"2008"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8813875"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570410"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2007.914952"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509503"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697051"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911417911"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/cdc.2009.5400278"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339624"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363946"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.942116"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385935"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509686"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.02287"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094711"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6858909"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.08.046"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.4204\/EPTCS.326.11"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.tcs.2009.06.021"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1145\/3491216"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30206-3_12"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15297-9_9"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7039363"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2018.2853182"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2022.782783"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-053018-023717"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127582"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206235"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1145\/2728606.2728628"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-21668-3_21"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2017.7963399"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029429"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814487"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2019.8917353"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICARM52023.2021.9536206"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3427558"},{"key":"ref42","volume-title":"Constrained Optimization and Lagrange Multiplier Methods","author":"Bertsekas","year":"1996"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77457-0_32"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1017\/9781139061759"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2659727"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-27576-0"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.09.032"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2020.109433"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/s10479-007-0186-0"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2010.05.017"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1016\/0377-2217(84)90077-8"},{"key":"ref53","article-title":"The labeling algorithm for the multiobjective shortest path problem","author":"Martins","year":"1999"},{"key":"ref54","first-page":"218","article-title":"A new approach to multiobjective A search","volume-title":"Proc. 19th Int. Joint Conf. Artif. Intell.","author":"Cruz","year":"2005"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/s10288-005-0074-x"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1016\/j.cor.2021.105424"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2023\/757"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v32i1.19825"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794364"},{"key":"ref60","article-title":"Optimization of rulebooks via asymptotically representing lexicographic hierarchies for autonomous vehicles","author":"Penlington","year":"2024"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1145\/3450267.3450542"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1145\/75277.75293"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1007\/11609773_24"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1016\/B978-012622760-4\/50003-0"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1002\/mana.19901470123"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2013.6760374"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483174"},{"key":"ref69","article-title":"Behaviour description database for AVS in Singapore","author":"Guerra","year":"2023"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561777"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610973"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2011.6083056"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9635960"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6579837"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942755"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2016.7479106"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915587034"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1145\/2461328.2461330"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989177"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v29i1.9670"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_9"},{"key":"ref82","volume-title":"Model Predictive Control: Theory, Computation, and Design","author":"Rawlings","year":"2017"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-66723-8_16"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1007\/BF01386390"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"ref86","volume-title":"Introduction to Algorithms","volume":"4","author":"Cormen","year":"2022"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2656241"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2012.6343737"},{"key":"ref89","volume-title":"Dynamic Programming","author":"Bellman","year":"1957"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/11297026\/11392769-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/11297026\/11392769.pdf?arnumber=11392769","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T05:22:30Z","timestamp":1773120150000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11392769\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026]]},"references-count":89,"URL":"https:\/\/doi.org\/10.1109\/tro.2026.3663976","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026]]}}}