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Aaron D. Ames
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- affiliation: California Institute of Technology, Pasadena, CA, USA
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2020 – today
- 2024
- [j95]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. Artif. Intell. 336: 104195 (2024) - [j94]Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Safety-critical control for autonomous systems: Control barrier functions via reduced-order models. Annu. Rev. Control. 57: 100947 (2024) - [j93]Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray:
Layered Control Systems Operating on Multiple Clocks. IEEE Control. Syst. Lett. 8: 1211-1216 (2024) - [j92]Ersin Das, Aaron D. Ames, Joel W. Burdick:
Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. IEEE Control. Syst. Lett. 8: 1727-1732 (2024) - [j91]Ryan K. Cosner, Preston Culbertson, Aaron D. Ames:
Bounding Stochastic Safety: Leveraging Freedman's Inequality With Discrete-Time Control Barrier Functions. IEEE Control. Syst. Lett. 8: 1937-1942 (2024) - [j90]Max H. Cohen, Ryan K. Cosner, Aaron D. Ames:
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. IEEE Control. Syst. Lett. 8: 2229-2234 (2024) - [j89]Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Rectified Control Barrier Functions for High-Order Safety Constraints. IEEE Control. Syst. Lett. 8: 2949-2954 (2024) - [j88]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Risk-Averse Decision Making Under Uncertainty. IEEE Trans. Autom. Control. 69(1): 55-68 (2024) - [c259]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. ACC 2024: 394-401 - [c258]Min Dai, Jaemin Lee, Aaron D. Ames:
Multi-Domain Walking with Reduced-Order Models of Locomotion. ACC 2024: 2830-2837 - [c257]Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pattersen:
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. ACC 2024: 3152-3159 - [c256]Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion. ACC 2024: 3383-3390 - [c255]Lorenzo Sforni, Giuseppe Notarstefano, Aaron D. Ames:
Receding Horizon CBF-Based Multi-Layer Controllers for Safe Trajectory Generation. ACC 2024: 4765-4770 - [c254]Gilbert Bahati, Pio Ong, Aaron D. Ames:
Sample-and-Hold Safety with Control Barrier Functions. ACC 2024: 5169-5176 - [c253]Yitaek Kim, Jeeseop Kim, Aaron D. Ames, Christoffer Sloth:
Robust Safety-Critical Control for Input-Delayed System with Delay Estimation. ECC 2024: 2218-2223 - [c252]Maegan Tucker, Kejun Li, Aaron D. Ames:
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. ICRA 2024: 1136-1142 - [c251]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. ICRA 2024: 3478-3484 - [c250]Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames:
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. ICRA 2024: 3485-3491 - [c249]Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames:
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. ICRA 2024: i-viii - [c248]Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames:
Data-Driven Predictive Control for Robust Exoskeleton Locomotion. IROS 2024: 162-169 - [c247]Albert H. Li, Preston Culbertson, Aaron D. Ames:
Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. IROS 2024: 2992-2999 - [c246]Wyatt Ubellacker, Aaron D. Ames:
Learned Regions of Attraction for Safe Motion Primitive Transitions. IROS 2024: 3643-3650 - [c245]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. IROS 2024: 9094-9101 - [c244]Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames:
Robust Agility via Learned Zero Dynamics Policies. IROS 2024: 9116-9123 - [c243]Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames:
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. IROS 2024: 12686-12693 - [i201]Nikolai Matni, Aaron D. Ames, John C. Doyle:
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control. CoRR abs/2401.15185 (2024) - [i200]Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray:
Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks. CoRR abs/2402.11666 (2024) - [i199]Tamás G. Molnár, Suresh K. Kannan, James Cunningham, Kyle Dunlap, Kerianne L. Hobbs, Aaron D. Ames:
Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions. CoRR abs/2403.02508 (2024) - [i198]Ryan K. Cosner, Preston Culbertson, Aaron D. Ames:
Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions. CoRR abs/2403.05745 (2024) - [i197]Albert H. Li, Preston Culbertson, Aaron D. Ames:
Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. CoRR abs/2403.07249 (2024) - [i196]Ersin Das, Aaron D. Ames, Joel W. Burdick:
Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. CoRR abs/2403.08916 (2024) - [i195]Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models. CoRR abs/2403.09865 (2024) - [i194]Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames:
Data-Driven Predictive Control for Robust Exoskeleton Locomotion. CoRR abs/2403.15658 (2024) - [i193]Devansh R. 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. CoRR abs/2403.18015 (2024) - [i192]Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Lars Lindemann, Margaret P. Chapman, George J. Pappas, Aaron D. Ames, Joel W. Burdick:
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification. CoRR abs/2403.18972 (2024) - [i191]Josefine B. Graebener, Apurva S. Badithela, Denizalp Goktas, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications. CoRR abs/2404.09888 (2024) - [i190]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. CoRR abs/2404.10938 (2024) - [i189]Max H. Cohen, Ryan K. Cosner, Aaron D. Ames:
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. CoRR abs/2406.02709 (2024) - [i188]Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames:
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. CoRR abs/2406.13115 (2024) - [i187]Raul Astudillo, Kejun Li, Maegan Tucker, Chu Xin Cheng, Aaron D. Ames, Yisong Yue:
Preferential Multi-Objective Bayesian Optimization. CoRR abs/2406.14699 (2024) - [i186]William D. Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames:
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. CoRR abs/2408.14749 (2024) - [i185]Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames:
Robust Agility via Learned Zero Dynamics Policies. CoRR abs/2409.06125 (2024) - [i184]Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames:
Safety of Linear Systems under Severe Sensor Attacks. CoRR abs/2409.08413 (2024) - [i183]Pio Ong, Manuel Mazo Jr., Aaron D. Ames:
Hierarchical Event-Triggered Systems: Safe Learning of Quasi-Optimal Deadline Policies. CoRR abs/2409.09812 (2024) - [i182]Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames:
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination. CoRR abs/2409.10274 (2024) - [i181]Zachary Olkin, Aaron D. Ames:
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation. CoRR abs/2409.12366 (2024) - [i180]Albert H. Li, Preston Culbertson, Vince Kurtz, Aaron D. Ames:
DROP: Dexterous Reorientation via Online Planning. CoRR abs/2409.14562 (2024) - [i179]Manuel Mazo Jr., William D. Compton, Max H. Cohen, Aaron D. Ames:
A Contract Theory for Layered Control Architectures. CoRR abs/2409.14902 (2024) - [i178]Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, Jeannette Bohg:
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. CoRR abs/2410.23701 (2024) - [i177]Yitaek Kim, Jeeseop Kim, Albert H. Li, Aaron D. Ames, Christoffer Sloth:
Robust Adaptive Safe Robotic Grasping with Tactile Sensing. CoRR abs/2411.07833 (2024) - [i176]Noel Csomay-Shanklin, Aaron D. Ames:
Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures. CoRR abs/2411.13506 (2024) - [i175]Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames:
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes. CoRR abs/2411.13507 (2024) - [i174]William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames:
Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. CoRR abs/2411.15350 (2024) - [i173]Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Controller Synthesis with Reduced-Order Models. CoRR abs/2411.16479 (2024) - [i172]Xiao Tan, Ersin Das, Aaron D. Ames, Joel W. Burdick:
Zero-order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints. CoRR abs/2411.17079 (2024) - [i171]Yitaek Kim, Ersin Das, Jeeseop Kim, Aaron D. Ames, Joel W. Burdick, Christoffer Sloth:
Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation. CoRR abs/2411.17277 (2024) - [i170]Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Rectified Control Barrier Functions for High-Order Safety Constraints. CoRR abs/2412.03708 (2024) - [i169]William D. Compton, Max H. Cohen, Aaron D. Ames:
Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions. CoRR abs/2412.04658 (2024) - 2023
- [j87]Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach. IEEE Access 11: 128369-128382 (2023) - [j86]Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames:
A review of current state-of-the-art control methods for lower-limb powered prostheses. Annu. Rev. Control. 55: 142-164 (2023) - [j85]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) - [j84]Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz:
Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions. IEEE Control. Syst. Lett. 7: 1123-1128 (2023) - [j83]Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Parameterized Barrier Functions to Guarantee Safety Under Uncertainty. IEEE Control. Syst. Lett. 7: 2077-2082 (2023) - [j82]Maegan Tucker, Aaron D. Ames:
An Input-to-State Stability Perspective on Robust Locomotion. IEEE Control. Syst. Lett. 7: 2599-2604 (2023) - [j81]Tamás G. Molnár, Aaron D. Ames:
Composing Control Barrier Functions for Complex Safety Specifications. IEEE Control. Syst. Lett. 7: 3615-3620 (2023) - [j80]Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames:
Characterizing Smooth Safety Filters via the Implicit Function Theorem. IEEE Control. Syst. Lett. 7: 3890-3895 (2023) - [j79]Ugo Rosolia, Yuxiao Chen, Shreyansh Daftry, Masahiro Ono, Yisong Yue, Aaron D. Ames:
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms. IEEE Trans. Autom. Control. 68(7): 4435-4442 (2023) - [j78]Tamás G. Molnár, Adam K. Kiss, Aaron D. Ames, Gábor Orosz:
Safety-Critical Control With Input Delay in Dynamic Environment. IEEE Trans. Control. Syst. Technol. 31(4): 1507-1520 (2023) - [j77]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. IEEE Trans. Control. Syst. Technol. 31(6): 2744-2759 (2023) - [j76]Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed:
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. IEEE Trans. Robotics 39(6): 4728-4748 (2023) - [c242]Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control with Bounded Inputs via Reduced Order Models. ACC 2023: 1414-1421 - [c241]Prithvi Akella, Aaron D. Ames:
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CDC 2023: 79-85 - [c240]Pio Ong, Aaron D. Ames:
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CDC 2023: 870-877 - [c239]Tamás G. Molnár, Gábor Orosz, Aaron D. Ames:
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CDC 2023: 1106-1111 - [c238]Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames:
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CDC 2023: 1879-1885 - [c237]Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff:
Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces. CDC 2023: 4372-4378 - [c236]Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames:
Input-to-State Stability in Probability. CDC 2023: 5796-5803 - [c235]Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames:
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. ICRA 2023: 1386-1392 - [c234]Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. ICRA 2023: 9924-9930 - [c233]Rachel Gehlhar, Aaron D. Ames:
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. ICRA 2023: 10429-10435 - [c232]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Safety-Critical Controller Verification via Sim2Real Gap Quantification. ICRA 2023: 10539-10545 - [c231]Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames:
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. ICRA 2023: 12106-12112 - [c230]Wyatt Ubellacker, Aaron D. Ames:
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. ICRA 2023: 12142-12148 - [c229]Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames:
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. ICRA 2023: 12218-12225 - [c228]Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. ICRA 2023: 12430-12436 - [c227]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. IROS 2023: 2368-2375 - [c226]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. IROS 2023: 2384-2391 - [c225]Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames:
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. IROS 2023: 6809-6816 - [c224]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. IROS 2023: 8120-8126 - [c223]Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames:
Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. IROS 2023: 8574-8581 - [c222]Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames:
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. L4DC 2023: 665-678 - [c221]Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames:
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. Robotics: Science and Systems 2023 - [i168]Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. CoRR abs/2301.09622 (2023) - [i167]Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames:
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. CoRR abs/2302.07469 (2023) - [i166]Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames:
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. CoRR abs/2302.13687 (2023) - [i165]Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control with Bounded Inputs via Reduced Order Models. CoRR abs/2303.03247 (2023) - [i164]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. CoRR abs/2303.06258 (2023) - [i163]Maegan Tucker, Aaron D. Ames:
An Input-to-State Stability Perspective on Robust Locomotion. CoRR abs/2303.10231 (2023) - [i162]Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Parameterized Barrier Functions to Guarantee Safety under Uncertainty. CoRR abs/2303.11385 (2023) - [i161]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. CoRR abs/2303.13630 (2023) - [i160]Prithvi Akella, Aaron D. Ames:
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CoRR abs/2304.03739 (2023) - [i159]Prithvi Akella, Apurva Badithela, Richard M. Murray, Aaron D. Ames:
Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration. CoRR abs/2304.03849 (2023) - [i158]Pio Ong, Aaron D. Ames:
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CoRR abs/2304.08684 (2023) - [i157]Gilbert Bahati, Pio Ong, Aaron D. Ames:
Violation-Free Inter-Sampling Safety: from Control Barrier Functions to Tunable Controllers with Input-to-State Safety Guarantees. CoRR abs/2304.08685 (2023) - [i156]Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames:
Input-to-State Stability in Probability. CoRR abs/2304.14578 (2023) - [i155]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. CoRR abs/2305.03929 (2023) - [i154]Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames:
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CoRR abs/2308.10962 (2023) - [i153]Tamás G. Molnár, Gábor Orosz, Aaron D. Ames:
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CoRR abs/2309.00074 (2023) - [i152]Tamás G. Molnár, Aaron D. Ames:
Composing Control Barrier Functions for Complex Safety Specifications. CoRR abs/2309.06647 (2023) - [i151]Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames:
Characterizing Smooth Safety Filters via the Implicit Function Theorem. CoRR abs/2309.12614 (2023) - [i150]Albert H. Li, Preston Culbertson, Aaron D. Ames:
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability. CoRR abs/2309.16930 (2023) - [i149]Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen:
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles. CoRR abs/2310.00713 (2023) - [i148]Min Dai, Jaemin Lee, Aaron D. Ames:
Multi-Domain Walking with Reduced-Order Models of Locomotion. CoRR abs/2310.03179 (2023) - [i147]Maegan Tucker, Kejun Li, Aaron D. Ames:
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. CoRR abs/2310.06169 (2023) - [i146]Alexandre Capone, Ryan K. Cosner, Aaron D. Ames, Sandra Hirche:
Safe Online Dynamics Learning with Initially Unknown Models and Infeasible Safety Certificates. CoRR abs/2311.02133 (2023) - [i145]Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames:
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. CoRR abs/2311.05802 (2023) - [i144]Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames:
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. CoRR abs/2312.07778 (2023) - [i143]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. CoRR abs/2312.07786 (2023) - [i142]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. CoRR abs/2312.08689 (2023) - 2022
- [j75]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. 6: 139-144 (2022) - [j74]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) - [j73]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) - [j72]Ugo Rosolia, Aaron D. Ames:
Iterative Model Predictive Control for Piecewise Systems. IEEE Control. Syst. Lett. 6: 842-847 (2022) - [j71]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) - [j70]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) - [j69]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) - [j68]Prithvi Akella, Aaron D. Ames:
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. IEEE Control. Syst. Lett. 6: 2018-2023 (2022) - [j67]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) - [j66]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) - [j65]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) - [j64]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) - [j63]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) - [j62]Rachel Gehlhar, Je-Han Yang, Aaron D. Ames:
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing. IEEE Robotics Autom. Lett. 7(2): 5151-5158 (2022) - [j61]Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. IEEE Robotics Autom. Lett. 7(2): 5365-5372 (2022) - [j60]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) - [j59]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) - [j58]Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames:
Safety-Critical Manipulation for Collision-Free Food Preparation. IEEE Robotics Autom. Lett. 7(4): 10954-10961 (2022) - [j57]Prithvi Akella, Aaron D. Ames:
A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems. IEEE Robotics Autom. Lett. 7(4): 11062-11069 (2022) - [j56]Federica Ferraguti, Chiara Talignani Landi, Andrew Singletary, Hsien-Chung Lin, Aaron D. Ames, Cristian Secchi, Marcello Bonfè:
Safety and Efficiency in Robotics: The Control Barrier Functions Approach. IEEE Robotics Autom. Mag. 29(3): 139-151 (2022) - [j55]Ugo Rosolia, Andrew Singletary, Aaron D. Ames:
Unified Multirate Control: From Low-Level Actuation to High-Level Planning. IEEE Trans. Autom. Control. 67(12): 6627-6640 (2022) - [j54]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) - [c220]Helen Durand, Aaron D. Ames:
A Control Barrier Function Perspective on Lyapunov-Based Economic Model Predictive Control. ACC 2022: 2823-2828 - [c219]Pio Ong, Gilbert Bahati, Aaron D. Ames:
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CDC 2022: 453-460 - [c218]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. CDC 2022: 3732-3739 - [c217]Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CDC 2022: 5316-5322 - [c216]Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames:
Safe Backstepping with Control Barrier Functions. CDC 2022: 5775-5782 - [c215]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. CDC 2022: 7127-7134 - [c214]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids 2022: 622-629 - [c213]Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue:
LyaNet: A Lyapunov Framework for Training Neural ODEs. ICML 2022: 18687-18703 - [c212]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 - [c211]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. ICRA 2022: 10435-10441 - [c210]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 - [c209]Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth:
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. IROS 2022: 1-8 - [c208]Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames:
Safe Drone Flight with Time-Varying Backup Controllers. IROS 2022: 4577-4584 - [c207]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 - [c206]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 - [i141]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR abs/2201.01323 (2022) - [i140]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) - [i139]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) - [i138]Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue:
LyaNet: A Lyapunov Framework for Training Neural ODEs. CoRR abs/2202.02526 (2022) - [i137]Prithvi Akella, Aaron D. Ames:
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems. CoRR abs/2202.11177 (2022) - [i136]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) - [i135]Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames:
A Scenario Approach to Risk-Aware Safety-Critical System Verification. CoRR abs/2203.02595 (2022) - [i134]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) - [i133]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) - [i132]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) - [i131]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) - [i130]Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames:
Safe Backstepping with Control Barrier Functions. CoRR abs/2204.00653 (2022) - [i129]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) - [i128]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) - [i127]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) - [i126]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) - [i125]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) - [i124]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) - [i123]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) - [i122]Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames:
Safe Drone Flight with Time-Varying Backup Controllers. CoRR abs/2207.05220 (2022) - [i121]Maegan Tucker, Kejun Li, Yisong Yue, Aaron D. Ames:
POLAR: Preference Optimization and Learning Algorithms for Robotics. CoRR abs/2208.04404 (2022) - [i120]Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth:
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. CoRR abs/2209.02995 (2022) - [i119]Wyatt Ubellacker, Aaron D. Ames:
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. CoRR abs/2209.07503 (2022) - [i118]Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz:
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions. CoRR abs/2209.08123 (2022) - [i117]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. CoRR abs/2209.08458 (2022) - [i116]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Safety-Critical Controller Verification via Sim2Real Gap Quantification. CoRR abs/2209.09337 (2022) - [i115]Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames:
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. CoRR abs/2209.10452 (2022) - [i114]Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames:
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. CoRR abs/2209.11808 (2022) - [i113]Rachel Gehlhar, Aaron D. Ames:
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. CoRR abs/2209.13739 (2022) - [i112]Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. CoRR abs/2210.10304 (2022) - [i111]Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed:
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. CoRR abs/2211.06913 (2022) - [i110]Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. CoRR abs/2211.06917 (2022) - [i109]Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff:
Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic. CoRR abs/2212.06129 (2022) - [i108]Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames:
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. CoRR abs/2212.06253 (2022) - [i107]Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CoRR abs/2212.11365 (2022) - 2021
- [j53]Jenna Reher, Aaron D. Ames:
Dynamic Walking: Toward Agile and Efficient Bipedal Robots. Annu. Rev. Control. Robotics Auton. Syst. 4: 535-572 (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) - [c205]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Constrained Risk-Averse Markov Decision Processes. AAAI 2021: 11718-11725 - [c204]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 - [c203]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. ACC 2021: 14-19 - [c202]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 - [c201]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 - [c200]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 - [c199]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online decentralized decision making with inequality constraints: An ADMM approach. ACC 2021: 2075-2081 - [c198]Mohamed Maghenem, Andrew J. Taylor, Aaron D. Ames, Ricardo G. Sanfelice:
Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. ACC 2021: 2418-2423 - [c197]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 - [c196]Rachel Gehlhar, Aaron D. Ames:
Estimate-to-State Stability for Hybrid Human-Prosthesis Systems. CDC 2021: 705-712 - [c195]Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. CDC 2021: 4287-4294 - [c194]Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames:
Risk-Averse Stochastic Shortest Path Planning. CDC 2021: 5199-5204 - [c193]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 - [c192]Yuxiao Chen, Mrdjan Jankovic, Mario A. Santillo, Aaron D. Ames:
Backup Control Barrier Functions: Formulation and Comparative Study. CDC 2021: 6835-6841 - [c191]Jenna Reher, Aaron D. Ames:
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. ICRA 2021: 2040-2047 - [c190]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 - [c189]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 - [c188]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 - [c187]Rachel Gehlhar, Aaron D. Ames:
Model-Dependent Prosthesis Control with Interaction Force Estimation. ICRA 2021: 3226-3232 - [c186]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 - [c185]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 - [c184]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 - [c183]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 - [c182]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 - [c181]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 - [c180]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 - [c179]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]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. CoRR abs/2112.08516 (2021) - 2020
- [j33]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) - [j32]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) - [j31]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) - [j30]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) - [j29]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) - [j28]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) - [j27]You Yu, Joanna M. Nassar, Changhao Xu, Jihong Min, Yiran Yang, Adam Dai, Rohan Doshi, Adrian Huang, Yu Song, Rachel Gehlhar, Aaron D. Ames, Wei Gao:
Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces. Sci. Robotics 5(41): 7946 (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) - [c178]Andrew J. Taylor, Aaron D. Ames:
Adaptive Safety with Control Barrier Functions. ACC 2020: 1399-1405 - [c177]Jenna Reher, Claudia Kann, Aaron D. Ames:
An Inverse Dynamics Approach to Control Lyapunov Functions. ACC 2020: 2444-2451 - [c176]Yuxiao Chen, Andrew W. Singletary, Aaron D. Ames:
Density Functions for Guaranteed Safety on Robotic Systems. ACC 2020: 3199-3204 - [c175]Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Risk-Averse Planning Under Uncertainty. ACC 2020: 3305-3312 - [c174]Ayush Pandey, Aaron D. Ames:
On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction. ACC 2020: 3763-3769 - [c173]Ludvig Doeser, Petter Nilsson, Aaron D. Ames, Richard M. Murray:
Invariant Sets for Integrators and Quadrotor Obstacle Avoidance. ACC 2020: 3814-3821 - [c172]Petter Nilsson, Aaron D. Ames:
Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs. ACC 2020: 5175-5181 - [c171]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 - [c170]Yuxiao Chen, Mohamadreza Ahmadi, Aaron D. Ames:
Optimal Safe Controller Synthesis: A Density Function Approach. ACC 2020: 5407-5412 - [c169]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 - [c168]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 - [c167]Andrew Singletary, Yuxiao Chen, Aaron D. Ames:
Control Barrier Functions for Sampled-Data Systems with Input Delays. CDC 2020: 804-809 - [c166]Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames:
Barrier Functions for Multiagent-POMDPs with DTL Specifications. CDC 2020: 1380-1385 - [c165]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. CoRL 2020: 654-670 - [c164]Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard M. Murray:
Reactive motion planning with probabilisticsafety guarantees. CoRL 2020: 1958-1970 - [c163]Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. Murray:
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. ICCPS 2020: 196-205 - [c162]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 - [c161]Eric R. Ambrose, Aaron D. Ames:
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. ICRA 2020: 2457-2463 - [c160]Wen-Loong Ma, Aaron D. Ames:
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. ICRA 2020: 4491-4497 - [c159]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 - [c158]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 - [c157]Andrew Singletary, Thomas Gurriet, Petter Nilsson, Aaron D. Ames:
Safety-Critical Rapid Aerial Exploration of Unknown Environments. ICRA 2020: 10270-10276 - [c156]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 - [c155]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 - [c154]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 - [c153]Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames:
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. IROS 2020: 4126-4133 - [c152]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 - [c151]Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames:
Learning for Safety-Critical Control with Control Barrier Functions. L4DC 2020: 708-717 - [c150]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 - [c149]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) - [c148]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 - [c147]Thomas Gurriet, Petter Nilsson, Andrew Singletary, Aaron D. Ames:
Realizable Set Invariance Conditions for Cyber-Physical Systems. ACC 2019: 3642-3649 - [c146]Gábor Orosz, Aaron D. Ames:
Safety Functionals for Time Delay Systems. ACC 2019: 4374-4379 - [c145]Kaveh Akbari Hamed, Wen-Loong Ma, Aaron D. Ames:
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers. ACC 2019: 4588-4595 - [c144]Andrew J. Taylor, Victor D. Dorobantu, Meera Krishnamoorthy, Hoang Minh Le, Yisong Yue, Aaron D. Ames:
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability. CDC 2019: 1448-1455 - [c143]Thomas Gurriet, Mark Mote, Andrew Singletary, Eric Feron, Aaron D. Ames:
A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees. CDC 2019: 2046-2053 - [c142]Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry:
Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations. CDC 2019: 3046-3053 - [c141]Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames:
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. CDC 2019: 4797-4803 - [c140]Vishal Murali, Aaron D. Ames, Erik I. Verriest:
Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots. CDC 2019: 6295-6300 - [c139]Jacob Reher, Wen-Loong Ma, Aaron D. Ames:
Dynamic Walking with Compliance on a Cassie Bipedal Robot. ECC 2019: 2589-2595 - [c138]Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada:
Control Barrier Functions: Theory and Applications. ECC 2019: 3420-3431 - [c137]Alexander H. Chang, Christian Hubicki, Aaron D. Ames, Patricio A. Vela:
Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. ICRA 2019: 3188-3194 - [c136]Wen-Loong Ma, Yizhar Or, Aaron D. Ames:
Dynamic Walking on Slippery Surfaces : Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. ICRA 2019: 3705-3711 - [c135]Andrew Singletary, Petter Nilsson, Thomas Gurriet, Aaron D. Ames:
Online Active Safety for Robotic Manipulators. IROS 2019: 173-178 - [c134]Xiaobin Xiong, Aaron D. Ames:
Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. IROS 2019: 1018-1024 - [c133]Xiaobin Xiong, Aaron D. Ames:
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. IROS 2019: 4644-4651 - [c132]Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames:
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. IROS 2019: 5498-5503 - [c131]Eric R. Ambrose, Noel Csomay-Shanklin, Yizhar Or, Aaron D. Ames:
Design and Comparative Analysis of 1D Hopping Robots. IROS 2019: 5717-5724 - [c130]Andrew J. Taylor, Victor D. Dorobantu, Hoang Minh Le, Yisong Yue, Aaron D. Ames:
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems*. IROS 2019: 6878-6884 - [i43]Yuxiao Chen, Aaron D. Ames:
Duality between density function and value function with applications in constrained optimal control and Markov Decision Process. CoRR abs/1902.09583 (2019) - [i42]Andrew J. Taylor, Victor D. Dorobantu, Hoang Minh Le, Yisong Yue, Aaron D. Ames:
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems. CoRR abs/1903.01577 (2019) - [i41]Andrew J. Taylor, Victor D. Dorobantu, Meera Krishnamoorthy, Hoang Minh Le, Yisong Yue, Aaron D. Ames:
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability. CoRR abs/1903.07214 (2019) - [i40]Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames:
Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. CoRR abs/1903.07823 (2019) - [i39]Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada:
Control Barrier Functions: Theory and Applications. CoRR abs/1903.11199 (2019) - [i38]Jacob Reher, Wen-Loong Ma, Aaron D. Ames:
Dynamic Walking with Compliance on a Cassie Bipedal Robot. CoRR abs/1904.11104 (2019) - [i37]Rohit Konda, Aaron D. Ames, Samuel Coogan:
Characterizing Safety: Minimal Barrier Functions from Scalar Comparison Systems. CoRR abs/1908.09323 (2019) - [i36]Rachel Gehlhar, Jenna Reher, Aaron D. Ames:
Control of Separable Subsystems with Application to Prostheses. CoRR abs/1909.03102 (2019) - [i35]Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames:
First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. CoRR abs/1909.08124 (2019) - [i34]Wen-Loong Ma, Aaron D. Ames:
From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. CoRR abs/1909.08560 (2019) - [i33]Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick:
Optimal Motion Planning for Multi-Modal Hybrid Locomotion. CoRR abs/1909.10209 (2019) - [i32]Thomas Gurriet, Maegan Tucker, Alexis Duburcq, Guilhem Boeris, Aaron D. Ames:
Towards Variable Assistance for Lower Body Exoskeletons. CoRR abs/1909.11188 (2019) - [i31]Yuxiao Chen, Mohamadreza Ahmadi, Aaron D. Ames:
Optimal Safe Controller Synthesis: A Density Function Approach. CoRR abs/1909.11798 (2019) - [i30]Thomas Gurriet, Maegan Tucker, Claudia Kann, Guilhem Boeris, Aaron D. Ames:
Stabilization of Exoskeletons through Active Ankle Compensation. CoRR abs/1909.11848 (2019) - [i29]Maegan Tucker, Ellen R. Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel Burdick, Aaron D. Ames:
Preference-Based Learning for Exoskeleton Gait Optimization. CoRR abs/1909.12316 (2019) - [i28]Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Risk-Averse Planning Under Uncertainty. CoRR abs/1909.12499 (2019) - [i27]Eric R. Ambrose, Aaron D. Ames:
Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. CoRR abs/1909.12930 (2019) - [i26]Andrew J. Taylor, Aaron D. Ames:
Adaptive Safety with Control Barrier Functions. CoRR abs/1910.00555 (2019) - [i25]Xiaobin Xiong, Aaron D. Ames:
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. CoRR abs/1910.00684 (2019) - [i24]Xiaobin Xiong, Aaron D. Ames:
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. CoRR abs/1910.00687 (2019) - [i23]Jenna Reher, Claudia Kann, Aaron D. Ames:
An Inverse Dynamics Approach to Control Lyapunov Functions. CoRR abs/1910.10824 (2019) - [i22]Yuxiao Chen, James Anderson, Karan Kalsi, Aaron D. Ames, Steven H. Low:
Safety-Critical Control Synthesis for network systems with Control Barrier Functions and Assume-Guarantee Contracts. CoRR abs/1911.03452 (2019) - [i21]Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. Murray:
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. CoRR abs/1911.08626 (2019) - [i20]Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames:
Learning for Safety-Critical Control with Control Barrier Functions. CoRR abs/1912.10099 (2019) - 2018
- [j24]Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames:
Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. IEEE Robotics Autom. Lett. 3(4): 3677-3684 (2018) - [j23]Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames:
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. IEEE Trans Autom. Sci. Eng. 15(3): 1216-1229 (2018) - [j22]Ayonga Hereid, Christian M. Hubicki, Eric A. Cousineau, Aaron D. Ames:
Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. IEEE Trans. Robotics 34(2): 370-387 (2018) - [c129]Sofie Haesaert, Petter Nilsson, Cristian Ioan Vasile, Rohan Thakker, Ali-akbar Agha-mohammadi, Aaron D. Ames, Richard M. Murray:
Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations. ADHS 2018: 271-276 - [c128]Kaveh Akbari Hamed, Aaron D. Ames, Robert D. Gregg:
Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking. ACC 2018: 1438-1445 - [c127]Kaveh Akbari Hamed, Robert D. Gregg, Aaron D. Ames:
Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. ACC 2018: 2210-2217 - [c126]Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames:
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC 2018: 2224-2230 - [c125]Petter Nilsson, Aaron D. Ames:
Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control. CDC 2018: 765-772 - [c124]Thomas Gurriet, Mark Mote, Aaron D. Ames, Eric Feron:
An Online Approach to Active Set Invariance. CDC 2018: 3592-3599 - [c123]Xiaobin Xiong, Aaron D. Ames:
Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. Humanoids 2018: 1-9 - [c122]Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman:
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. Humanoids 2018: 994-1001 - [c121]Thomas Gurriet, Andrew Singletary, Jacob Reher, Laurent Ciarletta, Eric Feron, Aaron D. Ames:
Towards a framework for realizable safety critical control through active set invariance. ICCPS 2018: 98-106 - [c120]Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames:
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. ICRA 2018: 2804-2811 - [c119]Xiaobin Xiong, Aaron D. Ames:
Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control. IROS 2018: 3821-3828 - [c118]Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian Ioan Vasile, Ali-Akbar Agha-Mohammadi, Richard M. Murray, Aaron D. Ames:
Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. Robotics: Science and Systems 2018 - [i19]Shishir Kolathaya, Jacob Reher, Aaron D. Ames:
Input to State Stability of Bipedal Walking Robots: Application to DURUS. CoRR abs/1801.00618 (2018) - [i18]Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Margaret Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle:
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR abs/1802.08322 (2018) - [i17]Xiaobin Xiong, Aaron D. Ames:
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control. CoRR abs/1807.08037 (2018) - [i16]Yuxiao Chen, James Anderson, Karan Kalsi, Steven H. Low, Aaron D. Ames:
Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts. CoRR abs/1810.10636 (2018) - [i15]Wen-Loong Ma, Yizhar Or, Aaron D. Ames:
Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. CoRR abs/1812.04600 (2018) - 2017
- [j21]Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle:
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access 5: 9919-9934 (2017) - [j20]Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames:
First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. Auton. Robots 41(3): 725-742 (2017) - [j19]Omar Hussien, Aaron D. Ames, Paulo Tabuada:
Abstracting Partially Feedback Linearizable Systems Compositionally. IEEE Control. Syst. Lett. 1(2): 227-232 (2017) - [j18]Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames:
Multi-contact bipedal robotic locomotion. Robotica 35(5): 1072-1106 (2017) - [j17]Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames:
Corrigendum: Multi-contact bipedal robotic locomotion. Robotica 35(8): 1793 (2017) - [j16]Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada:
Control Barrier Function Based Quadratic Programs for Safety Critical Systems. IEEE Trans. Autom. Control. 62(8): 3861-3876 (2017) - [j15]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Safety Barrier Certificates for Collisions-Free Multirobot Systems. IEEE Trans. Robotics 33(3): 661-674 (2017) - [c117]Vahid Azimi, Tony Shu, Huihua Zhao, Eric R. Ambrose, Aaron D. Ames, Dan Simon:
Robust control of a powered transfemoral prosthesis device with experimental verification. ACC 2017: 517-522 - [c116]Yasser Shoukry, Paulo Tabuada, Stephanie Tsuei, Mark B. Milam, Jessy W. Grizzle, Aaron D. Ames:
Closed-form controlled invariant sets for pedestrian avoidance. ACC 2017: 1622-1628 - [c115]Eric R. Ambrose, Wen-Loong Ma, Christian Hubicki, Aaron D. Ames:
Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. CCTA 2017: 1270-1276 - [c114]Xiangru Xu, Thomas Waters, Daniel Pickem, Paul Glotfelter, Magnus Egerstedt, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames:
Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. CCTA 2017: 1769-1775 - [c113]Paulo Tabuada, Wen-Loong Ma, Jessy W. Grizzle, Aaron D. Ames:
Data-driven control for feedback linearizable single-input systems. CDC 2017: 6265-6270 - [c112]Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, Aaron D. Ames:
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. HSCC 2017: 265-274 - [c111]Huihua Zhao, Eric R. Ambrose, Aaron D. Ames:
Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. ICRA 2017: 1140-1147 - [c110]Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt:
The Robotarium: A remotely accessible swarm robotics research testbed. ICRA 2017: 1699-1706 - [c109]Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. ICRA 2017: 2154-2160 - [c108]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Safe certificate-based maneuvers for teams of quadrotors using differential flatness. ICRA 2017: 3293-3298 - [c107]Michael X. Grey, Aaron D. Ames, C. Karen Liu:
Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. ICRA 2017: 4747-4753 - [c106]Ayonga Hereid, Aaron D. Ames:
FROST∗: Fast robot optimization and simulation toolkit. IROS 2017: 719-726 - [c105]Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman:
A stability region criterion for flat-footed bipedal walking on deformable granular terrain. IROS 2017: 4552-4559 - [c104]Michael X. Grey, Aaron D. Ames, C. Karen Liu:
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. Robotics: Science and Systems 2017 - [i14]Michael X. Grey, Aaron D. Ames, C. Karen Liu:
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. CoRR abs/1702.00425 (2017) - [i13]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness. CoRR abs/1702.01075 (2017) - 2016
- [j14]Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames:
Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. IEEE Trans Autom. Sci. Eng. 13(2): 502-513 (2016) - [j13]Petter Nilsson, Omar Hussien, Ayca Balkan, Yuxiao Chen, Aaron D. Ames, Jessy W. Grizzle, Necmiye Ozay, Huei Peng, Paulo Tabuada:
Correct-by-Construction Adaptive Cruise Control: Two Approaches. IEEE Trans. Control. Syst. Technol. 24(4): 1294-1307 (2016) - [c103]Kenneth Y. Chao, Matthew J. Powell, Aaron D. Ames, Pilwon Hur:
Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. ACC 2016: 3910-3915 - [c102]Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames:
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC 2016: 3916-3921 - [c101]Matthew J. Powell, Aaron D. Ames:
Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. ACC 2016: 3922-3927 - [c100]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Safety barrier certificates for heterogeneous multi-robot systems. ACC 2016: 5213-5218 - [c99]Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath:
3D dynamic walking on stepping stones with control barrier functions. CDC 2016: 827-834 - [c98]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots. CDC 2016: 2659-2664 - [c97]Huihua Zhao, Ayonga Hereid, Eric R. Ambrose, Aaron D. Ames:
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. CDC 2016: 3668-3674 - [c96]Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames:
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC 2016: 6173-6179 - [c95]Thomas Gurriet, Mark L. Mote, Aaron D. Ames, Eric Feron:
Establishing trust in remotely reprogrammable systems. HCI-Aero 2016: 19:1-19:4 - [c94]Matthew J. Powell, Wen-Loong Ma, Eric R. Ambrose, Aaron D. Ames:
Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. Humanoids 2016: 981-986 - [c93]Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames:
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. ICRA 2016: 1447-1454 - [c92]Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames:
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. ICRA 2016: 1552-1559 - [c91]Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames:
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. ICRA 2016: 1794-1801 - [c90]Matthew J. Powell, Aaron D. Ames:
Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. IROS 2016: 555-560 - [c89]Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames:
Tractable terrain-aware motion planning on granular media: An impulsive jumping study. IROS 2016: 3887-3892 - [c88]Michael X. Grey, Caelan Reed Garrett, C. Karen Liu, Aaron D. Ames, Andrea Lockerd Thomaz:
Humanoid manipulation planning using backward-forward search. IROS 2016: 5467-5473 - [c87]Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames:
Efficient HZD gait generation for three-dimensional underactuated humanoid running. IROS 2016: 5819-5825 - [c86]Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames:
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR 2016: 400-415 - [i12]Daniel Pickem, Li Wang, Paul Glotfelter, Yancy Diaz-Mercado, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt:
Safe, Remote-Access Swarm Robotics Research on the Robotarium. CoRR abs/1604.00640 (2016) - [i11]Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet, Aaron D. Ames:
System Identification and Control through Efficient SVA Based Regressor Computation. CoRR abs/1608.02683 (2016) - [i10]Michael X. Grey, Aaron D. Ames, C. Karen Liu:
Traversing Environments Using Possibility Graphs for Humanoid Robots. CoRR abs/1608.03845 (2016) - [i9]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile Robots. CoRR abs/1608.06887 (2016) - [i8]Li Wang, Aaron D. Ames, Magnus Egerstedt:
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems. CoRR abs/1609.00651 (2016) - [i7]Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt:
The Robotarium: A remotely accessible swarm robotics research testbed. CoRR abs/1609.04730 (2016) - [i6]Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada:
Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems. CoRR abs/1609.06408 (2016) - [i5]Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames:
Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. CoRR abs/1609.06807 (2016) - [i4]Michael X. Grey, Aaron D. Ames, C. Karen Liu:
Footstep and Motion Planning in Semi-unstructured Environments Using Possibility Graphs. CoRR abs/1610.00700 (2016) - [i3]Michael X. Grey, C. Karen Liu, Aaron D. Ames:
Traversing Environments Using Possibility Graphs with Multiple Action Types. CoRR abs/1610.00701 (2016) - [i2]Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames:
Robustness of Control Barrier Functions for Safety Critical Control. CoRR abs/1612.01554 (2016) - 2015
- [j12]Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle:
Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. IEEE Access 3: 323-332 (2015) - [j11]Nicolaus A. Radford, Philip Strawser, Kimberly A. Hambuchen, Joshua S. Mehling, William K. Verdeyen, A. Stuart Donnan, James Holley, Jairo Sanchez, Vienny Nguyen, Lyndon B. Bridgwater, Reginald Berka, Robert O. Ambrose, Mason Myles Markee, N. J. Fraser-Chanpong, Christopher McQuin, John D. Yamokoski, Stephen Hart, Raymond Guo, Adam Parsons, Brian Wightman, Paul Dinh, Barrett Ames, Charles Blakely, Courtney Edmondson, Brett Sommers, Rochelle Rea, Chad Tobler, Heather Bibby, Brice Howard, Lei Niu, Andrew Lee, Michael Conover, Lily Truong, Ryan Reed, David Chesney, Robert Platt Jr., Gwendolyn Johnson, Chien-Liang Fok, Nicholas Paine, Luis Sentis, Eric A. Cousineau, Ryan W. Sinnet, Jordan Lack, Matthew J. Powell, Benjamin Morris, Aaron D. Ames, Jide Akinyode:
Valkyrie: NASA's First Bipedal Humanoid Robot. J. Field Robotics 32(3): 397-419 (2015) - [j10]Neil T. Dantam, Daniel M. Lofaro, Ayonga Hereid, Paul Y. Oh, Aaron D. Ames, Mike Stilman:
The Ach Library: A New Framework for Real-Time Communication. IEEE Robotics Autom. Mag. 22(1): 76-85 (2015) - [c85]Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames:
Robustness of Control Barrier Functions for Safety Critical Control. ADHS 2015: 54-61 - [c84]Urs Borrmann, Li Wang, Aaron D. Ames, Magnus Egerstedt:
Control Barrier Certificates for Safe Swarm Behavior. ADHS 2015: 68-73 - [c83]Shishir Kolathaya, Aaron D. Ames:
Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits. ADHS 2015: 377-382 - [c82]Aakar Mehra, Wen-Loong Ma, Forrest Berg, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames:
Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. ACC 2015: 1411-1418 - [c81]Shao-Chen Hsu, Xiangru Xu, Aaron D. Ames:
Control barrier function based quadratic programs with application to bipedal robotic walking. ACC 2015: 4542-4548 - [c80]Ryan W. Sinnet, Aaron D. Ames:
Energy shaping of hybrid systems via control Lyapunov functions. ACC 2015: 5992-5997 - [c79]Benjamin J. Morris, Matthew J. Powell, Aaron D. Ames:
Continuity and smoothness properties of nonlinear optimization-based feedback controllers. CDC 2015: 151-158 - [c78]Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames:
A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. CDC 2015: 1607-1612 - [c77]Aaron D. Ames, Paulo Tabuada, Bastian Schürmann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger, Jessy W. Grizzle:
First steps toward formal controller synthesis for bipedal robots. HSCC 2015: 209-218 - [c76]Huihua Zhao, Jake Reher, Jonathan Horn, Victor Paredes, Aaron D. Ames:
Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. HSCC 2015: 305-306 - [c75]Huihua Zhao, Jake Reher, Jonathan Horn, Victor Paredes, Aaron D. Ames:
Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis. ICCPS 2015: 130-138 - [c74]Matthew J. Powell, Eric A. Cousineau, Aaron D. Ames:
Model predictive control of underactuated bipedal robotic walking. ICRA 2015: 5121-5126 - [c73]Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames:
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA 2015: 5734-5740 - [c72]Eric A. Cousineau, Aaron D. Ames:
Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. ICRA 2015: 5747-5753 - [c71]Walid Taha, Adam Duracz, Yingfu Zeng, Kevin Atkinson, Ferenc A. Bartha, Paul Brauner, Jan Duracz, Fei Xu, Robert Cartwright, Michal Konecný, Eugenio Moggi, Jawad Masood, Pererik Andreasson, Jun Inoue, Anita Pinheiro Sant'Anna, Roland Philippsen, Alexandre Chapoutot, Marcia O'Malley, Aaron D. Ames, Verónica Gaspes, Lise Hvatum, Shyam Mehta, Henrik Eriksson, Christian Grante:
Acumen: An Open-Source Testbed for Cyber-Physical Systems Research. IoT 360 (1) 2015: 118-130 - 2014
- [j9]Jessy W. Grizzle, Christine Chevallereau, Ryan W. Sinnet, Aaron D. Ames:
Models, feedback control, and open problems of 3D bipedal robotic walking. Autom. 50(8): 1955-1988 (2014) - [j8]Aaron D. Ames, Kevin S. Galloway, Koushil Sreenath, Jessy W. Grizzle:
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. IEEE Trans. Autom. Control. 59(4): 876-891 (2014) - [j7]Aaron D. Ames:
Human-Inspired Control of Bipedal Walking Robots. IEEE Trans. Autom. Control. 59(5): 1115-1130 (2014) - [c70]Shishir Kolathaya, Aaron D. Ames:
Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. ACC 2014: 3710-3715 - [c69]Huihua Zhao, Aaron D. Ames:
Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. ACC 2014: 4101-4107 - [c68]Petter Nilsson, Omar Hussien, Yuxiao Chen, Ayca Balkan, Matthias Rungger, Aaron D. Ames, Jessy W. Grizzle, Necmiye Ozay, Huei Peng, Paulo Tabuada:
Preliminary results on correct-by-construction control software synthesis for adaptive cruise control. CDC 2014: 816-823 - [c67]Ayonga Hereid, Matthew J. Powell, Aaron D. Ames:
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. CDC 2014: 2950-2957 - [c66]Matthew J. Powell, Aaron D. Ames:
Hierarchical control of series elastic actuators through control Lyapunov functions. CDC 2014: 2986-2992 - [c65]Aaron D. Ames, Jessy W. Grizzle, Paulo Tabuada:
Control barrier function based quadratic programs with application to adaptive cruise control. CDC 2014: 6271-6278 - [c64]Aaron D. Ames, James Holley:
Quadratic program based nonlinear embedded control of series elastic actuators. CDC 2014: 6291-6298 - [c63]Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames:
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC 2014: 263-272 - [c62]Huihua Zhao, Wen-Loong Ma, Aaron D. Ames, Michael B. Zeagler:
Human-inspired multi-contact locomotion with AMBER2. ICCPS 2014: 199-210 - [c61]Huihua Zhao, Shishir Kolathaya, Aaron D. Ames:
Quadratic programming and impedance control for transfemoral prosthesis. ICRA 2014: 1341-1347 - [c60]Jordan Lack, Matthew J. Powell, Aaron D. Ames:
Planar multi-contact bipedal walking using hybrid zero dynamics. ICRA 2014: 2582-2588 - [c59]Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, Aaron D. Ames:
Human-inspired walking via unified PD and impedance control. ICRA 2014: 5088-5094 - [c58]Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames:
Composing Dynamical Systems to Realize Dynamic Robotic Dancing. WAFR 2014: 425-442 - 2013
- [j6]Andrew G. Lamperski, Aaron D. Ames:
Lyapunov Theory for Zeno Stability. IEEE Trans. Autom. Control. 58(1): 100-112 (2013) - [c57]Andrew R. Teel, Rafal Goebel, Benjamin Morris, Aaron D. Ames, Jessy W. Grizzle:
A stabilization result with application to bipedal locomotion. CDC 2013: 2030-2035 - [c56]Benjamin Morris, Matthew J. Powell, Aaron D. Ames:
Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots. CDC 2013: 2920-2926 - [c55]Aaron D. Ames, Matthew J. Powell:
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. CPSW@CISS 2013: 219-240 - [c54]Michal Konecný, Walid Taha, Jan Duracz, Adam Duracz, Aaron D. Ames:
Enclosing the behavior of a hybrid system up to and beyond a Zeno point. CPSNA 2013: 120-125 - [c53]Aaron D. Ames:
Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs. HSCC 2013: 31-32 - [c52]Matthew J. Powell, Ayonga Hereid, Aaron D. Ames:
Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. ICRA 2013: 4803-4810 - [c51]Navid Aghasadeghi, Huihua Zhao, Levi J. Hargrove, Aaron D. Ames, Eric J. Perreault, Timothy Bretl:
Learning impedance controller parameters for lower-limb prostheses. IROS 2013: 4268-4274 - [c50]Neil Dantam, Ayonga Hereid, Aaron D. Ames, Mike Stilman:
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. Robotics: Science and Systems 2013 - [i1]Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle:
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. CoRR abs/1302.7314 (2013) - 2012
- [j5]Ryan W. Sinnet, Aaron D. Ames:
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots. J. Robotics Mechatronics 24(4): 595-601 (2012) - [c49]Shishir Nadubettu Yadukumar, Bhargav Kothapalli, Aaron D. Ames:
Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. ACC 2012: 2437-2442 - [c48]Ryan W. Sinnet, Aaron D. Ames:
Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction. ACC 2012: 4831-4836 - [c47]Shu Jiang, Shawanee Partrick, Huihua Zhao, Aaron D. Ames:
Outputs of human walking for bipedal robotic controller design. ACC 2012: 4843-4848 - [c46]Aaron D. Ames, Kevin S. Galloway, J. W. Grizzle:
Control lyapunov functions and hybrid zero dynamics. CDC 2012: 6837-6842 - [c45]Aaron D. Ames, Eric A. Cousineau, Matthew J. Powell:
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics. HSCC 2012: 135-144 - [c44]Walid Taha, Paul Brauner, Yingfu Zeng, Robert Cartwright, Verónica Gaspes, Aaron D. Ames, Alexandre Chapoutot:
A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report). ICDCS Workshops 2012: 303-308 - [c43]Matthew J. Powell, Huihua Zhao, Aaron D. Ames:
Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. ICRA 2012: 543-549 - [c42]Aaron D. Ames:
First steps toward underactuated human-inspired bipedal robotic walking. ICRA 2012: 1011-1017 - [c41]Huihua Zhao, Shishir Nadubettu Yadukumar, Aaron D. Ames:
Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. IROS 2012: 1821-1827 - [c40]Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames:
Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. IROS 2012: 2478-2483 - [c39]Shishir Kolathaya, Aaron D. Ames:
Achieving bipedal locomotion on rough terrain through human-inspired control. SSRR 2012: 1-6 - [c38]Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames:
From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. WAFR 2012: 511-526 - 2011
- [j4]Walid Taha, Paul Brauner, Robert Cartwright, Verónica Gaspes, Aaron D. Ames, Alexandre Chapoutot:
A core language for executable models of cyber physical systems: work in progress report. SIGBED Rev. 8(2): 39-43 (2011) - [j3]Yizhar Or, Aaron D. Ames:
Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems. IEEE Trans. Autom. Control. 56(6): 1322-1336 (2011) - [c37]Ryan W. Sinnet, Matthew J. Powell, Shu Jiang, Aaron D. Ames:
Compass gait revisited: A human data perspective with extensions to three dimensions. CDC/ECC 2011: 682-689 - [c36]Eric D. B. Wendel, Aaron D. Ames:
Rank deficiency and superstability of hybrid systems with application to bipedal robots. CDC/ECC 2011: 7422-7427 - [c35]Aaron D. Ames, Ramanarayan Vasudevan, Ruzena Bajcsy:
Human-data based cost of bipedal robotic walking. HSCC 2011: 153-162 - [c34]Aaron D. Ames:
Characterizing knee-bounce in bipedal robotic walking: a zeno behavior approach. HSCC 2011: 163-172 - [c33]Ryan W. Sinnet, Huihua Zhao, Aaron D. Ames:
Simulating Prosthetic Devices with Human-Inspired Hybrid Control. IROS 2011: 1723-1730 - 2010
- [c32]Eric D. B. Wendel, Aaron D. Ames:
Rank properties of poincare maps for hybrid systems with applications to bipedal walking. HSCC 2010: 151-160 - [c31]Angela Yun Zhu, Edwin M. Westbrook, Jun Inoue, Alexandre Chapoutot, Cherif R. Salama, Marisa Linnea Peralta, Travis Martin, Walid Taha, Marcia K. O'Malley, Robert Cartwright, Aaron D. Ames, Raktim Bhattacharya:
Mathematical equations as executable models of mechanical systems. ICCPS 2010: 1-11
2000 – 2009
- 2009
- [c30]Yizhar Or, Aaron D. Ames:
Formal and practical completion of Lagrangian hybrid systems. ACC 2009: 3624-3631 - [c29]Ryan W. Sinnet, Aaron D. Ames:
2D bipedal walking with knees and feet: A hybrid control approach. CDC 2009: 3200-3207 - [c28]Ryan W. Sinnet, Aaron D. Ames:
3D bipedal walking with knees and feet: A hybrid geometric approach. CDC 2009: 3208-3213 - [c27]Aaron D. Ames, Ryan W. Sinnet, Eric D. B. Wendel:
Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach. HSCC 2009: 16-30 - [c26]Yizhar Or, Aaron D. Ames:
Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems. HSCC 2009: 291-305 - 2008
- [j2]Paulo Tabuada, Aaron D. Ames, A. Agung Julius, George J. Pappas:
Approximate reduction of dynamic systems. Syst. Control. Lett. 57(7): 538-545 (2008) - [c25]Aaron D. Ames, John C. Doyle:
Complexity and fragility in stability for linear systems. ACC 2008: 1630-1637 - [c24]Yizhar Or, Aaron D. Ames:
Stability of Zeno equilibria in Lagrangian hybrid systems. CDC 2008: 2770-2775 - [c23]Andrew G. Lamperski, Aaron D. Ames:
On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria. CDC 2008: 2776-2781 - [c22]Andrew G. Lamperski, Aaron D. Ames:
Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems. HSCC 2008: 622-625 - 2007
- [c21]Aaron D. Ames, Robert D. Gregg:
Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. ACC 2007: 2848-2854 - [c20]Andrew G. Lamperski, Aaron D. Ames:
Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems. CDC 2007: 115-120 - [c19]Aaron D. Ames, Alessandro Abate, Shankar Sastry:
Sufficient conditions for the existence of zeno behavior in a class of nonlinear hybrid systems via constant approximations. CDC 2007: 4033-4038 - [c18]Aaron D. Ames, Robert D. Gregg, Mark W. Spong:
A geometric approach to three-dimensional hipped bipedal robotic walking. CDC 2007: 5123-5130 - [c17]David Pekarek, Aaron D. Ames, Jerrold E. Marsden:
Discrete mechanics and optimal control applied to the compass gait biped. CDC 2007: 5376-5382 - [c16]Sumitra Ganesh, Aaron D. Ames, Ruzena Bajcsy:
Composition of Dynamical Systems for Estimation of Human Body Dynamics. HSCC 2007: 702-705 - 2006
- [c15]Alessandro Abate, Aaron D. Ames, Shankar Sastry:
A priori detection of Zeno behavior in communication networks modeled as hybrid systems. ACC 2006: 1-6 - [c14]Alessandro Abate, Aaron D. Ames, Shankar Sastry:
Error bounds based stochastic approximations and simulations of hybrid dynamical systems. ACC 2006: 1-6 - [c13]Aaron D. Ames, Shankar Sastry:
Hybrid Routhian reduction of Lagrangian hybrid systems. ACC 2006: 1-6 - [c12]Aaron D. Ames, Shankar Sastry:
Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry. ACC 2006: 1-6 - [c11]Aaron D. Ames, Haiyang Zheng, Robert D. Gregg, Shankar Sastry:
Is there life after Zeno? Taking executions past the breaking (Zeno) point. ACC 2006: 1-6 - [c10]Aaron D. Ames, Shankar Sastry:
Hybrid Geometric Reduction of Hybrid Systems. CDC 2006: 923-929 - [c9]Paulo Tabuada, Aaron D. Ames, Agung Julius, George J. Pappas:
Approximate Reduction of Dynamical Systems. CDC 2006: 6408-6413 - [c8]Aaron D. Ames, Paulo Tabuada, Shankar Sastry:
On the Stability of Zeno Equilibria. HSCC 2006: 34-48 - [c7]Haiyang Zheng, Edward A. Lee, Aaron D. Ames:
Beyond Zeno: Get on with It! HSCC 2006: 568-582 - 2005
- [j1]Jonathan Sprinkle, Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry:
Online safety calculations for glide-slope recapture. Innov. Syst. Softw. Eng. 1(2): 157-175 (2005) - [c6]Aaron D. Ames, Shankar Sastry:
Characterization of Zeno behavior in hybrid systems using homological methods. ACC 2005: 1160-1165 - [c5]Alessandro Abate, Aaron D. Ames, S. Shankar Sastry:
Stochastic approximations of hybrid systems. ACC 2005: 1557-1562 - [c4]Aaron D. Ames, Alessandro Abate, Shankar Sastry:
Sufficient Conditions for the Existence of Zeno Behavior. CDC/ECC 2005: 696-701 - [c3]Jonathan Sprinkle, Aaron D. Ames, Alessandro Pinto, Haiyang Zheng, S. Shankar Sastry:
On the Partitioning of Syntax and Semantics For Hybrid Systems Tools. CDC/ECC 2005: 4694-4699 - [c2]Aaron D. Ames, Shankar Sastry:
A Homology Theory for Hybrid Systems: Hybrid Homology. HSCC 2005: 86-102 - 2004
- [c1]Aaron D. Ames, Shankar Sastry:
Affine Hybrid Systems. HSCC 2004: 16-31
Coauthor Index
aka: Joel Burdick
aka: J. W. Grizzle
aka: Christian M. Hubicki
aka: Shishir Nadubettu Yadukumar
aka: Ivan D. Jimenez Rodriguez
aka: Andrew W. Singletary
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