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2020 – today
- 2023
[j69]Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames:
Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions. IEEE Control. Syst. Lett. 7: 349-354 (2023)- 2022
- [j68]Andrew Singletary
, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. 6: 139-144 (2022) - [j67]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) - [j66]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) - [j65]Ugo Rosolia, Aaron D. Ames:
Iterative Model Predictive Control for Piecewise Systems. IEEE Control. Syst. Lett. 6: 842-847 (2022) - [j64]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) - [j63]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) - [j62]Randall T. Fawcett, Abhishek Pandala, Aaron D. Ames, Kaveh Akbari Hamed:
Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers. IEEE Control. Syst. Lett. 6: 1736-1741 (2022) - [j61]Prithvi Akella, Aaron D. Ames:
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. IEEE Control. Syst. Lett. 6: 2018-2023 (2022) - [j60]Devansh Agrawal, Hardik Parwana, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou:
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. IEEE Control. Syst. Lett. 6: 2138-2143 (2022) - [j59]Vinay R. Kamidi, Jeeseop Kim, Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots. IEEE Control. Syst. Lett. 6: 2509-2514 (2022) - [j58]Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames:
Model-Free Safety-Critical Control for Robotic Systems. IEEE Robotics Autom. Lett. 7(2): 944-951 (2022) - [j57]Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames:
Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions. IEEE Robotics Autom. Lett. 7(2): 2897-2904 (2022) - [j56]Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames:
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. IEEE Robotics Autom. Lett. 7(2): 4283-4290 (2022) - [j55]Abhishek Pandala, Randall T. Fawcett, Ugo Rosolia, Aaron D. Ames, Kaveh Akbari Hamed:
Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models. IEEE Robotics Autom. Lett. 7(3): 6622-6629 (2022) - [j54]Randall T. Fawcett, Kereshmeh Afsari, Aaron D. Ames, Kaveh Akbari Hamed:
Toward a Data-Driven Template Model for Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 7(3): 7636-7643 (2022) - [j53]Xiaobin Xiong, Aaron D. Ames:
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. IEEE Trans. Robotics 38(4): 2405-2425 (2022) - [c205]Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue:
LyaNet: A Lyapunov Framework for Training Neural ODEs. ICML 2022: 18687-18703 - [c204]Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames:
Learning Controller Gains on Bipedal Walking Robots via User Preferences. ICRA 2022: 10405-10411 - [c203]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. ICRA 2022: 10435-10441 - [c202]Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman:
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. ICRA 2022: 11487-11493 - [c201]Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames:
Safety-Aware Preference-Based Learning for Safety-Critical Control. L4DC 2022: 1020-1033 - [c200]Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames:
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. L4DC 2022: 1060-1072 - [i127]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR abs/2201.01323 (2022) - [i126]Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames:
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions. CoRR abs/2201.04331 (2022) - [i125]Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames:
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CoRR abs/2201.10749 (2022) - [i124]Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue:
LyaNet: A Lyapunov Framework for Training Neural ODEs. CoRR abs/2202.02526 (2022) - [i123]Prithvi Akella, Aaron D. Ames:
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems. CoRR abs/2202.11177 (2022) - [i122]Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman:
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. CoRR abs/2203.01404 (2022) - [i121]Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames:
A Scenario Approach to Risk-Aware Safety-Critical System Verification. CoRR abs/2203.02595 (2022) - [i120]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR abs/2203.07429 (2022) - [i119]Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. CoRR abs/2203.11470 (2022) - [i118]Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames:
Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions. CoRR abs/2203.15892 (2022) - [i117]Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia, Aaron D. Ames:
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. CoRR abs/2204.00152 (2022) - [i116]Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames:
Safe Backstepping with Control Barrier Functions. CoRR abs/2204.00653 (2022) - [i115]Pio Ong, Gilbert Bahati, Aaron D. Ames:
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CoRR abs/2204.03110 (2022) - [i114]Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames:
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. CoRR abs/2204.08120 (2022) - [i113]Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames:
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification. CoRR abs/2204.09833 (2022) - [i112]Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames:
Safety-Critical Manipulation for Collision-Free Food Preparation. CoRR abs/2205.01026 (2022) - [i111]Tamás G. Molnár, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gábor Orosz:
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control. CoRR abs/2205.14567 (2022) - [i110]Anil Alan, Andrew J. Taylor, Chaozhe R. He, Aaron D. Ames, Gábor Orosz:
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles. CoRR abs/2206.03568 (2022) - [i109]Adam K. Kiss, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Control Barrier Functionals: Safety-critical Control for Time Delay Systems. CoRR abs/2206.08409 (2022) - [i108]Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames:
Safe Drone Flight with Time-Varying Backup Controllers. CoRR abs/2207.05220 (2022) - [i107]Maegan Tucker, Kejun Li, Yisong Yue, Aaron D. Ames:
POLAR: Preference Optimization and Learning Algorithms for Robotics. CoRR abs/2208.04404 (2022) - 2021
- [j52]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) - [j51]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) - [j50]Rachel Gehlhar, Aaron D. Ames:
Separable Control Lyapunov Functions With Application to Prostheses. IEEE Control. Syst. Lett. 5(2): 559-564 (2021) - [j49]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) - [j48]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) - [j47]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) - [j46]Ugo Rosolia, Aaron D. Ames:
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. IEEE Control. Syst. Lett. 5(3): 1007-1012 (2021) - [j45]Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames:
A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. IEEE Control. Syst. Lett. 5(3): 1019-1024 (2021) - [j44]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) - [j43]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) - [j42]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) - [j41]Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin:
Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. Frontiers Robotics AI 8: 723780 (2021) - [j40]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) - [j39]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) - [j38]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) - [j37]Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames:
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. 6(4): 8442-8449 (2021) - [j36]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) - [j35]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) - [j34]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) - [c199]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Constrained Risk-Averse Markov Decision Processes. AAAI 2021: 11718-11725 - [c198]Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames:
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. ADHS 2021: 181-186 - [c197]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. ACC 2021: 14-19 - [c196]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 - [c195]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 - [c194]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 - [c193]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online decentralized decision making with inequality constraints: An ADMM approach. ACC 2021: 2075-2081 - [c192]Mohamed Maghenem, Andrew J. Taylor, Aaron D. Ames, Ricardo G. Sanfelice:
Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. ACC 2021: 2418-2423 - [c191]Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames:
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CDC 2021: 697-704 - [c190]Rachel Gehlhar, Aaron D. Ames:
Estimate-to-State Stability for Hybrid Human-Prosthesis Systems. CDC 2021: 705-712 - [c189]Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. CDC 2021: 4287-4294 - [c188]Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames:
Risk-Averse Stochastic Shortest Path Planning. CDC 2021: 5199-5204 - [c187]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. CDC 2021: 6469-6476 - [c186]Yuxiao Chen, Mrdjan Jankovic, Mario A. Santillo, Aaron D. Ames:
Backup Control Barrier Functions: Formulation and Comparative Study. CDC 2021: 6835-6841 - [c185]Jenna Reher, Aaron D. Ames:
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. ICRA 2021: 2040-2047 - [c184]Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames:
Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. ICRA 2021: 2804-2810 - [c183]Xiaobin Xiong, Jenna Reher, Aaron D. Ames:
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. ICRA 2021: 2825-2831 - [c182]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. ICRA 2021: 3212-3218 - [c181]Rachel Gehlhar, Aaron D. Ames:
Model-Dependent Prosthesis Control with Interaction Force Estimation. ICRA 2021: 3226-3232 - [c180]Eric R. Ambrose, Wen-Loong Ma, Aaron D. Ames:
Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. ICRA 2021: 7073-7078 - [c179]Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter:
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. ICRA 2021: 8352-8358 - [c178]Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue:
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control. IROS 2021: 3896-3903 - [c177]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. IROS 2021: 6286-6291 - [c176]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. IROS 2021: 8129-8136 - [c175]Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames:
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. IROS 2021: 8477-8484 - [c174]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 - [c173]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. WAFR 2021: 1-17 - [i106]Xiaobin Xiong, Aaron D. Ames:
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization. CoRR abs/2101.09588 (2021) - [i105]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) - [i104]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) - [i103]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) - [i102]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) - [i101]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) - [i100]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) - [i99]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) - [i98]Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames:
Risk-Averse Stochastic Shortest Path Planning. CoRR abs/2103.14727 (2021) - [i97]Ugo Rosolia, Aaron D. Ames:
Iterative Model Predictive Control for Piecewise Systems. CoRR abs/2104.08267 (2021) - [i96]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. CoRR abs/2104.10367 (2021) - [i95]Yuxiao Chen, Mrdjan Jankovic, Mario A. Santillo, Aaron D. Ames:
Backup Control Barrier Functions: Formulation and Comparative Study. CoRR abs/2104.11332 (2021) - [i94]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) - [i93]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) - [i92]Rachel Gehlhar, Je-Han Yang, Aaron D. Ames:
Model-Dependent Prosthesis Control with Real-Time Force Sensing. CoRR abs/2105.11561 (2021) - [i91]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) - [i90]Jenna Reher, Aaron D. Ames:
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking. CoRR abs/2107.04241 (2021) - [i89]Prithvi Akella, Ugo Rosolia, Aaron D. Ames:
Learning Performance Bounds for Safety-Critical Systems. CoRR abs/2109.04026 (2021) - [i88]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Risk-Averse Decision Making Under Uncertainty. CoRR abs/2109.04082 (2021) - [i87]Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames:
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. CoRR abs/2109.05113 (2021) - [i86]Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Interactive multi-modal motion planning with Branch Model Predictive Control. CoRR abs/2109.05128 (2021) - [i85]Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames:
Model-Free Safety-Critical Control for Robotic Systems. CoRR abs/2109.09047 (2021) - [i84]Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames:
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. CoRR abs/2110.01002 (2021) - [i83]Prithvi Akella, Aaron D. Ames:
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. CoRR abs/2110.12014 (2021) - [i82]Tamás G. Molnár, Adam K. Kiss, Aaron D. Ames, Gábor Orosz:
Safety-Critical Control with Input Delay in Dynamic Environment. CoRR abs/2112.08445 (2021) - [i81]