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ORCIDAaron D. Ames
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- 2022
[j53]Andrew Singletary
, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. 6: 139-144 (2022)- [j52]Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou:
Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. IEEE Control. Syst. Lett. 6: 608-613 (2022) - [j51]Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue, Paulo Tabuada, Aaron D. Ames:
Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. IEEE Control. Syst. Lett. 6: 680-685 (2022) - [j50]Ugo Rosolia, Aaron D. Ames:
Iterative Model Predictive Control for Piecewise Systems. IEEE Control. Syst. Lett. 6: 842-847 (2022) - [j49]Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames:
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. IEEE Control. Syst. Lett. 6: 878-883 (2022) - [j48]Anil Alan, Andrew J. Taylor, Chaozhe R. He, Gábor Orosz, Aaron D. Ames:
Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions. IEEE Control. Syst. Lett. 6: 908-913 (2022) - 2021
- [j47]Yuxiao Chen, Andrew Singletary, Aaron D. Ames:
Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach. IEEE Control. Syst. Lett. 5(1): 127-132 (2021) - [j46]Rohit Konda, Aaron D. Ames, Samuel Coogan:
Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems. IEEE Control. Syst. Lett. 5(2): 523-528 (2021) - [j45]Rachel Gehlhar, Aaron D. Ames:
Separable Control Lyapunov Functions With Application to Prostheses. IEEE Control. Syst. Lett. 5(2): 559-564 (2021) - [j44]Andrew J. Taylor, Pio Ong, Jorge Cortés, Aaron D. Ames:
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. IEEE Control. Syst. Lett. 5(3): 749-754 (2021) - [j43]Aaron D. Ames, Gennaro Notomista, Yorai Wardi, Magnus Egerstedt:
Integral Control Barrier Functions for Dynamically Defined Control Laws. IEEE Control. Syst. Lett. 5(3): 887-892 (2021) - [j42]Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames:
Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion. IEEE Control. Syst. Lett. 5(3): 935-940 (2021) - [j41]Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames:
Safety-Critical Control of Compartmental Epidemiological Models With Measurement Delays. IEEE Control. Syst. Lett. 5(5): 1537-1542 (2021) - [j40]Carl Folkestad, Yuxiao Chen, Aaron D. Ames, Joel W. Burdick:
Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators. IEEE Control. Syst. Lett. 5(6): 2012-2017 (2021) - [j39]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online Decentralized Decision Making With Inequality Constraints: An ADMM approach. IEEE Control. Syst. Lett. 5(6): 2156-2161 (2021) - [j38]Xiaobin Xiong, Aaron D. Ames:
SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. IEEE Robotics Autom. Lett. 6(2): 2122-2129 (2021) - [j37]Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames:
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 6(2): 3761-3768 (2021) - [j36]Yuxiao Chen, Ugo Rosolia, Aaron D. Ames:
Decentralized Task and Path Planning for Multi-Robot Systems. IEEE Robotics Autom. Lett. 6(3): 4337-4344 (2021) - [j35]Yuxiao Chen, James Anderson, Karanjit Kalsi, Aaron D. Ames, Steven H. Low:
Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts. IEEE Trans. Control. Netw. Syst. 8(1): 487-499 (2021) - [j34]Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. IEEE Trans. Control. Syst. Technol. 29(4): 1581-1596 (2021) - [j33]Vahid Azimi, Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon, Aaron D. Ames:
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. IEEE Trans. Syst. Man Cybern. Syst. 51(2): 1174-1191 (2021) - [c175]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Constrained Risk-Averse Markov Decision Processes. AAAI 2021: 11718-11725 - [c174]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. ACC 2021: 14-19 - [c173]Carl Folkestad, Yuxiao Chen, Aaron D. Ames, Joel W. Burdick:
Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators. ACC 2021: 929-934 - [c172]Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames:
Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays. ACC 2021: 1052-1057 - [c171]Adam K. Kiss, Tamás G. Molnár, Daniel Bachrathy, Aaron D. Ames, Gábor Orosz:
Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach. ACC 2021: 1058-1063 - [c170]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online decentralized decision making with inequality constraints: An ADMM approach. ACC 2021: 2075-2081 - [c169]Mohamed Maghenem, Andrew J. Taylor, Aaron D. Ames, Ricardo G. Sanfelice:
Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. ACC 2021: 2418-2423 - [c168]Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames:
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. L4DC 2021: 1041-1053 - [i97]Xiaobin Xiong, Aaron D. Ames:
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization. CoRR abs/2101.09588 (2021) - [i96]Xiaobin Xiong, Aaron D. Ames:
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. CoRR abs/2102.09691 (2021) - [i95]Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames:
Learning Controller Gains on Bipedal Walking Robots via User Preferences. CoRR abs/2102.13201 (2021) - [i94]Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. CoRR abs/2103.01476 (2021) - [i93]Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou:
Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions. CoRR abs/2103.03695 (2021) - [i92]Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue, Paulo Tabuada, Aaron D. Ames:
Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. CoRR abs/2103.03937 (2021) - [i91]Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue:
Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach. CoRR abs/2103.04548 (2021) - [i90]Anil Alan, Andrew J. Taylor, Chaozhe R. He, Gábor Orosz, Aaron D. Ames:
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions. CoRR abs/2103.08041 (2021) - [i89]Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames:
Risk-Averse Stochastic Shortest Path Planning. CoRR abs/2103.14727 (2021) - [i88]Ugo Rosolia, Aaron D. Ames:
Iterative Model Predictive Control for Piecewise Systems. CoRR abs/2104.08267 (2021) - [i87]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. CoRR abs/2104.10367 (2021) - [i86]Yuxiao Chen, Mrdjan Jankovic, Mario A. Santillo, Aaron D. Ames:
Backup Control Barrier Functions: Formulation and Comparative Study. CoRR abs/2104.11332 (2021) - [i85]Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor, Tamás G. Molnár, Katherine L. Bouman, Aaron D. Ames:
Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State. CoRR abs/2104.14030 (2021) - [i84]Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames:
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. CoRR abs/2105.01697 (2021) - [i83]Rachel Gehlhar, Je-han Yang, Aaron D. Ames:
Model-Dependent Prosthesis Control with Real-Time Force Sensing. CoRR abs/2105.11561 (2021) - [i82]Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames:
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. CoRR abs/2106.10310 (2021) - [i81]Jenna Reher, Aaron D. Ames:
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking. CoRR abs/2107.04241 (2021) - 2020
- [j32]Thomas Gurriet, Mark Mote, Andrew Singletary, Petter Nilsson, Eric Feron, Aaron D. Ames:
A Scalable Safety Critical Control Framework for Nonlinear Systems. IEEE Access 8: 187249-187275 (2020) - [j31]Aaron D. Ames, Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz:
Safety-Critical Control of Active Interventions for COVID-19 Mitigation. IEEE Access 8: 188454-188474 (2020) - [j30]Tatsuya Ibuki, Sean Wilson, Aaron D. Ames, Magnus Egerstedt:
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. IEEE Control. Syst. Lett. 4(4): 976-981 (2020) - [j29]Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames:
Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. IEEE Robotics Autom. Lett. 5(1): 56-63 (2020) - [j28]Thomas Gurriet, Maegan Tucker, Alexis Duburcq, Guilhem Boeris, Aaron D. Ames:
Towards Variable Assistance for Lower Body Exoskeletons. IEEE Robotics Autom. Lett. 5(1): 266-273 (2020) - [j27]Xiaobin Xiong, Aaron D. Ames:
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping. IEEE Robotics Autom. Lett. 5(4): 6286-6293 (2020) - [j26]Kaveh Akbari Hamed, Aaron D. Ames:
Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking. IEEE Trans. Control. Syst. Technol. 28(6): 2689-2696 (2020) - [c167]Andrew J. Taylor, Aaron D. Ames:
Adaptive Safety with Control Barrier Functions. ACC 2020: 1399-1405 - [c166]Jenna Reher, Claudia Kann, Aaron D. Ames:
An Inverse Dynamics Approach to Control Lyapunov Functions. ACC 2020: 2444-2451 - [c165]Yuxiao Chen, Andrew W. Singletary, Aaron D. Ames:
Density Functions for Guaranteed Safety on Robotic Systems. ACC 2020: 3199-3204 - [c164]Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Risk-Averse Planning Under Uncertainty. ACC 2020: 3305-3312 - [c163]Ayush Pandey, Aaron D. Ames:
On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction. ACC 2020: 3763-3769 - [c162]Ludvig Doeser, Petter Nilsson, Aaron D. Ames, Richard M. Murray:
Invariant Sets for Integrators and Quadrotor Obstacle Avoidance. ACC 2020: 3814-3821 - [c161]Petter Nilsson, Aaron D. Ames:
Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs. ACC 2020: 5175-5181 - [c160]Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala, Wen-Loong Ma, Aaron D. Ames:
Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach. ACC 2020: 5314-5321 - [c159]Yuxiao Chen, Mohamadreza Ahmadi, Aaron D. Ames:
Optimal Safe Controller Synthesis: A Density Function Approach. ACC 2020: 5407-5412 - [c158]Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick:
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties. CDC 2020: 777-783 - [c157]Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions. CDC 2020: 790-795 - [c156]Andrew Singletary, Yuxiao Chen, Aaron D. Ames:
Control Barrier Functions for Sampled-Data Systems with Input Delays. CDC 2020: 804-809 - [c155]Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames:
Barrier Functions for Multiagent-POMDPs with DTL Specifications. CDC 2020: 1380-1385 - [c154]Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. Murray:
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. ICCPS 2020: 196-205 - [c153]Maegan Tucker, Ellen R. Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel W. Burdick, Aaron D. Ames:
Preference-Based Learning for Exoskeleton Gait Optimization. ICRA 2020: 2351-2357 - [c152]Eric R. Ambrose, Aaron D. Ames:
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. ICRA 2020: 2457-2463 - [c151]Wen-Loong Ma, Aaron D. Ames:
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. ICRA 2020: 4491-4497 - [c150]Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbrück:
Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator. ICRA 2020: 5460-5466 - [c149]Jenna Reher, Noel Csomay-Shanklin, David L. Christensen, Bobby Bristow, Aaron D. Ames, Lanny S. Smoot:
Passive Dynamic Balancing and Walking in Actuated Environments. ICRA 2020: 9775-9781 - [c148]Andrew Singletary, Thomas Gurriet, Petter Nilsson, Aaron D. Ames:
Safety-Critical Rapid Aerial Exploration of Unknown Environments. ICRA 2020: 10270-10276 - [c147]Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames:
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. IROS 2020: 3423-3430 - [c146]Xiaobin Xiong, Aaron D. Ames:
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. IROS 2020: 3510-3517 - [c145]Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames:
Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots. IROS 2020: 4006-4011 - [c144]Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames:
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. IROS 2020: 4126-4133 - [c143]Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick:
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. IROS 2020: 7027-7033 - [c142]Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames:
Learning for Safety-Critical Control with Control Barrier Functions. L4DC 2020: 708-717 - [c141]Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames:
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. Robotics: Science and Systems 2020 - [c140]Mohamadreza Ahmadi, Arun Viswanathan, Michel D. Ingham, Kymie Tan, Aaron D. Ames:
Partially Observable Games for Secure Autonomy. SP Workshops 2020: 185-188 - [e1]Aaron D. Ames, Sanjit A. Seshia, Jyotirmoy Deshmukh:
HSCC '20: 23rd ACM International Conference on Hybrid Systems: Computation and Control, Sydney, New South Wales, Australia, April 21-24, 2020. ACM 2020, ISBN 978-1-4503-7018-9 [contents] - [i80]Mohamadreza Ahmadi, Arun Viswanathan, Michel D. Ingham, Kymie Tan, Aaron D. Ames:
Partially Observable Games for Secure Autonomy. CoRR abs/2002.01969 (2020) - [i79]Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbrück:
Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator. CoRR abs/2002.03197 (2020) - [i78]Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg:
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. CoRR abs/2003.01410 (2020) - [i77]Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames:
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. CoRR abs/2003.06495 (2020) - [i76]Andrew J. Taylor, Pio Ong, Jorge Cortés, Aaron D. Ames:
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. CoRR abs/2003.06963 (2020) - [i75]Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames:
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. CoRR abs/2003.07524 (2020) - [i74]Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames:
A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. CoRR abs/2003.08028 (2020) - [i73]Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames:
Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion. CoRR abs/2003.08507 (2020) - [i72]Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames:
Barrier Functions for Multiagent-POMDPs with DTL Specifications. CoRR abs/2003.09267 (2020) - [i71]Tatsuya Ibuki, Sean Wilson, Aaron D. Ames, Magnus Egerstedt:
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. CoRR abs/2003.13363 (2020) - [i70]Ugo Rosolia, Aaron D. Ames:
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. CoRR abs/2004.01761 (2020) - [i69]Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions. CoRR abs/2004.04227 (2020) - [i68]Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick:
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties. CoRR abs/2004.05273 (2020) - [i67]Andrew Singletary, Yuxiao Chen, Aaron D. Ames:
Control Barrier Functions for Sampled-Data Systems with Input Delays. CoRR abs/2005.06418 (2020) - [i66]Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames:
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. CoRR abs/2006.01229 (2020) - [i65]Xiaobin Xiong, Aaron D. Ames:
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. CoRR abs/2008.02432 (2020) - [i64]Xiaobin Xiong, Aaron D. Ames:
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping. CoRR abs/2008.02435 (2020) - [i63]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. CoRR abs/2009.09100 (2020) - [i62]Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames:
Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays. CoRR abs/2009.10262 (2020) - [i61]Prithvi Akella, Ugo Rosolia, Andrew Singletary, Aaron D. Ames:
Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization. CoRR abs/2009.12909 (2020) - [i60]Jenna Reher, Aaron D. Ames:
Dynamic Walking: Toward Agile and Efficient Bipedal Robots. CoRR abs/2010.07451 (2020) - [i59]Jenna Reher, Aaron D. Ames:
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. CoRR abs/2010.09047 (2020) - [i58]Andrew Singletary, Karl Klingebiel, Joseph Bourne, N. Andrew Browning, Phil Tokumaru, Aaron D. Ames:
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. CoRR abs/2010.09819 (2020) - [i57]Sarah Dean, Andrew J. Taylor, Ryan K. Cosner, Benjamin Recht, Aaron D. Ames:
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions. CoRR abs/2010.16001 (2020) - [i56]Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter:
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. CoRR abs/2011.00032 (2020) - [i55]Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames:
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. CoRR abs/2011.01578 (2020) - [i54]Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard M. Murray:
Reactive motion planning with probabilistic safety guarantees. CoRR abs/2011.03590 (2020) - [i53]Kejun Li, Maegan Tucker, Erdem Biyik, Ellen R. Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames:
ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes. CoRR abs/2011.04812 (2020) - [i52]Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames:
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. CoRR abs/2011.05424 (2020) - [i51]Rachel Gehlhar, Aaron D. Ames:
Model-Dependent Prosthesis Control with Interaction Force Estimation. CoRR abs/2011.05793 (2020) - [i50]Xiaobin Xiong, Jenna Reher, Aaron D. Ames:
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. CoRR abs/2011.06050 (2020) - [i49]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online decentralized decision making with inequality constraints: an ADMM approach. CoRR abs/2011.10023 (2020) - [i48]Yuxiao Chen, Ugo Rosolia, Aaron D. Ames:
Decentralized Task and Path Planning for Multi-Robot Systems. CoRR abs/2011.10034 (2020) - [i47]Yuxiao Chen, Andrew Singletary, Aaron D. Ames:
Lidar-based exploration and discretization for mobile robot planning. CoRR abs/2011.10066 (2020) - [i46]Andrew J. Taylor, Victor D. Dorobantu, Sarah Dean, Benjamin Recht, Yisong Yue, Aaron D. Ames:
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty. CoRR abs/2011.10730 (2020) - [i45]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Constrained Risk-Averse Markov Decision Processes. CoRR abs/2012.02423 (2020) - [i44]Ugo Rosolia, Andrew Singletary, Aaron D. Ames:
Unified Multi-Rate Control: from Low Level Actuation to High Level Planning. CoRR abs/2012.06558 (2020)
2010 – 2019
- 2019
- [j25]Shishir Kolathaya, Aaron D. Ames:
Input-to-State Safety With Control Barrier Functions. IEEE Control. Syst. Lett. 3(1): 108-113 (2019) - [c139]Yuxiao Chen, James Anderson, Karan Kalsi, Steven H. Low, Aaron D. Ames:
Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts. ACC 2019: 1027-1034 - [c138]Thomas Gurriet, Petter Nilsson, Andrew Singletary, Aaron D. Ames:
Realizable Set Invariance Conditions for Cyber-Physical Systems. ACC 2019: 3642-3649 - [c137]Gábor Orosz, Aaron D. Ames:
Safety Functionals for Time Delay Systems. ACC 2019: 4374-4379