Aaron D. Ames - RankMe

643 papers A* 56A 42C 64Misc 3Journal 351Unranked 126

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	A Duality-Based Optimization Formulation of Safe Control Design with State Uncertainties. CoRR Xiao Tan, Rahal Nanayakkara, Paulo Tabuada, Aaron D. Ames
2026	J	`jnl`	CLF-RL: Control Lyapunov Function Guided Reinforcement Learning. IEEE Robotics Autom. Lett. Kejun Li, Zachary Olkin, Yisong Yue, Aaron D. Ames
2026	J	`jnl`	Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running. CoRR Zachary Olkin, William D. Compton, Ryan M. Bena, Aaron D. Ames
2026	J	`jnl`	From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints. CoRR Shima Sadat Mousavi, Xiao Tan, Aaron D. Ames
2026	J	`jnl`	Generalizations of Backup Control Barrier Functions: Expansion and Adaptation for Input-Bounded Safety-Critical Control. CoRR David E. J. van Wijk, Dohyun Lee, Ersin Das, Tamás G. Molnár, Aaron D. Ames, Joel W. Burdick
2026	J	`jnl`	Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties. CoRR Max H. Cohen, Pio Ong, Aaron D. Ames
2026	J	`jnl`	Integral Control Barrier Functions with Input Delay: Prediction, Feasibility, and Robustness. CoRR Adam K. Kiss, Ersin Das, Tamás G. Molnár, Aaron D. Ames
2026	J	`jnl`	Layered Safety: Enhancing Autonomous Collision Avoidance via Multistage CBF Safety Filters. CoRR Erina Yamaguchi, Ryan M. Bena, Gilbert Bahati, Aaron D. Ames
2026	J	`jnl`	MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics. CoRR Junheng Li, Lizhi Yang, Aaron D. Ames
2026	J	`jnl`	Safe Navigation Under State Uncertainty: Online Adaptation for Robust Control Barrier Functions. IEEE Robotics Autom. Lett. Ersin Das, Rahal Nanayakkara, Xiao Tan, Ryan M. Bena, Joel W. Burdick, Paulo Tabuada, Aaron D. Ames
2026	J	`jnl`	Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions. CoRR Lizhi Yang, Ryan M. Bena, Meg Wilkinson, Gilbert Bahati, Andy Navarro Brenes, Ryan K. Cosner, Aaron D. Ames
2026	J	`jnl`	Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet. CoRR Andrew W. Singletary, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2026	J	`jnl`	Topological Obstructions to the Existence of Control Barrier Functions. CoRR Massimiliano de Sa, Aaron D. Ames
2026	J	`jnl`	Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds. CoRR Min Dai, William D. Compton, Junheng Li, Lizhi Yang, Aaron D. Ames
2025	—	`conf`	A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics. CDC Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames
2025	J	`jnl`	A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics. CoRR Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames
2025	J	`jnl`	Architecture Is All You Need: Diversity-Enabled Sweet Spots for Robust Humanoid Locomotion. CoRR Blake Werner, Lizhi Yang, Aaron D. Ames
2025	J	`jnl`	Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. IEEE Trans. Autom. Control. Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
2025	—	`conf`	Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. Humanoids Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames
2025	J	`jnl`	Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. CoRR Lizhi Yang, Blake Werner, Adrian B. Ghansah, Aaron D. Ames
2025	C	`conf`	Bézier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures. ACC Noel Csomay-Shanklin, Aaron D. Ames
2025	J	`jnl`	CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions. CoRR Lizhi Yang, Blake Werner, Massimiliano de Sa, Aaron D. Ames
2025	J	`jnl`	CLF-RL: Control Lyapunov Function Guided Reinforcement Learning. CoRR Kejun Li, Zachary Olkin, Yisong Yue, Aaron D. Ames
2025	J	`jnl`	Categorical Lyapunov Theory I: Stability of Flows. CoRR Aaron D. Ames, Joe Moeller, Paulo Tabuada
2025	J	`jnl`	Categorical Lyapunov Theory II: Stability of Systems. CoRR Aaron D. Ames, Sébastien Mattenet, Joe Moeller
2025	J	`jnl`	Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning. CoRR Zachary Olkin, Kejun Li, William D. Compton, Aaron D. Ames
2025	J	`jnl`	Collision Avoidance and Geofencing for Fixed-Wing Aircraft With Control Barrier Functions. IEEE Trans. Control. Syst. Technol. Tamás G. Molnár, Suresh K. Kannan, James Cunningham, Kyle Dunlap, Kerianne L. Hobbs, Aaron D. Ames
2025	J	`jnl`	Combinatorial Control Barrier Functions: Nested Boolean and p-Choose-r Compositions of Safety Constraints. IEEE Control. Syst. Lett. Pio Ong, Haejoon Lee, Tamás G. Molnár, Dimitra Panagou, Aaron D. Ames
2025	J	`jnl`	Combinatorial Control Barrier Functions: Nested Boolean and p-choose-r Compositions of Safety Constraints. CoRR Pio Ong, Haejoon Lee, Tamás G. Molnár, Dimitra Panagou, Aaron D. Ames
2025	—	`conf`	Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems. CDC Max H. Cohen, Eugene Lavretsky, Aaron D. Ames
2025	J	`jnl`	Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems. CoRR Max H. Cohen, Eugene Lavretsky, Aaron D. Ames
2025	C	`conf`	Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks. ACC Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
2025	J	`jnl`	Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks. CoRR Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
2025	—	`conf`	Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree. CDC Gilbert Bahati, Ryan K. Cosner, Max H. Cohen, Ryan M. Bena, Aaron D. Ames
2025	J	`jnl`	Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree. CoRR Gilbert Bahati, Ryan K. Cosner, Max H. Cohen, Ryan M. Bena, Aaron D. Ames
2025	A*	`conf`	DROP: Dexterous Reorientation via Online Planning. ICRA Albert H. Li, Preston Culbertson, Vince Kurtz, Aaron D. Ames
2025	J	`jnl`	Distributionally Robust Imitation Learning: Layered Control Architecture for Certifiable Autonomy. CoRR Aditya Gahlawat, Ahmed Aboudonia, Sandeep Banik, Naira Hovakimyan, Nikolai Matni, Aaron D. Ames, Gioele Zardini, Alberto Speranzon
2025	J	`jnl`	Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation. CoRR Gilbert Bahati, Ryan M. Bena, Aaron D. Ames
2025	A*	`conf`	Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. ICRA William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames
2025	A*	`conf`	Dynamically Feasible Path Planning in Cluttered Environments via Reachable BéZier Polytopes. ICRA Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
2025	J	`jnl`	Explicit Control Barrier Function-based Safety Filters and their Resource-Aware Computation. CoRR Pol Mestres, Shima Sadat Mousavi, Pio Ong, Lizhi Yang, Ersin Das, Joel W. Burdick, Aaron D. Ames
2025	J	`jnl`	From Bundles to Backstepping: Geometric Control Barrier Functions for Safety-Critical Control on Manifolds. CoRR Massimiliano de Sa, Pio Ong, Aaron D. Ames
2025	J	`jnl`	From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints. IEEE Control. Syst. Lett. Shima Sadat Mousavi, Xiao Tan, Aaron D. Ames
2025	—	`conf`	Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC. Humanoids Ryan M. Bena, Gilbert Bahati, Blake Werner, Ryan K. Cosner, Lizhi Yang, Aaron D. Ames
2025	J	`jnl`	Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC. CoRR Ryan M. Bena, Gilbert Bahati, Blake Werner, Ryan K. Cosner, Lizhi Yang, Aaron D. Ames
2025	—	`conf`	Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots. Humanoids Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
2025	J	`jnl`	Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots. CoRR Adrian B. Ghansah, Sergio A. Esteban, Aaron D. Ames
2025	A	`conf`	Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis. IROS Kejun Li, Jeeseop Kim, Maxime Brunet, Marine Pétriaux, Yisong Yue, Aaron D. Ames
2025	J	`jnl`	Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis. CoRR Kejun Li, Jeeseop Kim, Maxime Brunet, Marine Pétriaux, Yisong Yue, Aaron D. Ames
2025	J	`jnl`	Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control. CoRR Albert H. Li, Brandon Hung, Aaron D. Ames, Jiuguang Wang, Simon Le Cleac'h, Preston Culbertson
2025	J	`jnl`	KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems. CoRR Albert H. Li, Ivan Dario Jimenez Rodriguez, Joel W. Burdick, Yisong Yue, Aaron D. Ames
2025	C	`conf`	Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems. ACC Zachary Olkin, Aaron D. Ames
2025	J	`jnl`	Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems. CoRR Zachary Olkin, Aaron D. Ames
2025	A*	`conf`	Learning Safe Control via On-the-Fly Bandit Exploration. ICML Alexandre Capone, Ryan Kazuo Cosner, Aaron D. Ames, Sandra Hirche
2025	—	`conf`	Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions. L4DC William D. Compton, Max H. Cohen, Aaron D. Ames
2025	—	`conf`	Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control. Humanoids Zachary Olkin, Aaron D. Ames
2025	J	`jnl`	Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control. CoRR Zachary Olkin, Aaron D. Ames
2025	J	`jnl`	Matrix Control Barrier Functions. CoRR Pio Ong, Yicheng Xu, Ryan M. Bena, Faryar Jabbari, Aaron D. Ames
2025	—	`conf`	Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation. ECC Yitaek Kim, Ersin Das, Jeeseop Kim, Aaron D. Ames, Joel W. Burdick, Christoffer Sloth
2025	—	`conf`	On the Properties of Optimal-Decay Control Barrier Functions. CDC Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2025	J	`jnl`	On the Properties of Optimal-Decay Control Barrier Functions. CoRR Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2025	J	`jnl`	Preferential Multi-Objective Bayesian Optimization. Trans. Mach. Learn. Res. Raul Astudillo, Kejun Li, Maegan Tucker, Chu Xin Cheng, Aaron D. Ames, Yisong Yue
2025	J	`jnl`	Probabilistic Control Barrier Functions: Safety in Probability for Discrete-Time Stochastic Systems. CoRR Pol Mestres, Blake Werner, Ryan K. Cosner, Aaron D. Ames
2025	A*	`conf`	Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. ICRA Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames
2025	J	`jnl`	Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. CoRR Sergio A. Esteban, Vince Kurtz, Adrian B. Ghansah, Aaron D. Ames
2025	J	`jnl`	Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields. CoRR Gilbert Bahati, Ryan M. Bena, Meg Wilkinson, Pol Mestres, Ryan K. Cosner, Aaron D. Ames
2025	J	`jnl`	RoMoCo: Robotic Motion Control Toolbox for Reduced-Order Model-Based Locomotion on Bipedal and Humanoid Robots. CoRR Min Dai, Aaron D. Ames
2025	—	`conf`	Robust Adaptive Safe Robotic Grasping with Tactile Sensing. ECC Yitaek Kim, Jeeseop Kim, Albert H. Li, Aaron D. Ames, Christoffer Sloth
2025	C	`conf`	Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control. ACC Min Dai, Aaron D. Ames
2025	J	`jnl`	Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control. CoRR Min Dai, Aaron D. Ames
2025	A	`conf`	SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. IROS Lizhi Yang, Blake Werner, Ryan K. Cosner, David Fridovich-Keil, Preston Culbertson, Aaron D. Ames
2025	J	`jnl`	SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. CoRR Lizhi Yang, Blake Werner, Ryan K. Cosner, David Fridovich-Keil, Preston Culbertson, Aaron D. Ames
2025	J	`jnl`	Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions. CoRR Ersin Das, Rahal Nanayakkara, Xiao Tan, Ryan M. Bena, Joel W. Burdick, Paulo Tabuada, Aaron D. Ames
2025	J	`jnl`	Safety Under State Uncertainty: Robustifying Control Barrier Functions. CoRR Rahal Nanayakkara, Aaron D. Ames, Paulo Tabuada
2025	J	`jnl`	Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions. CoRR David E. J. van Wijk, Ersin Das, Tamás G. Molnár, Aaron D. Ames, Joel W. Burdick
2025	C	`conf`	Safety-Critical Controller Synthesis with Reduced-Order Models. ACC Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames
2025	A*	`conf`	Safety-Critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles During Navigation Toward Destination. ICRA Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames
2025	—	`conf`	Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks. CDC Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
2025	J	`jnl`	Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks. CoRR Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
2025	A	`conf`	Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks. IROS Xiao Tan, Junior Sundar, Renzo Bruzzone, Pio Ong, Willian T. Lunardi, Martin Andreoni, Paulo Tabuada, Aaron D. Ames
2025	J	`jnl`	Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks. CoRR Xiao Tan, Junior Sundar, Renzo Bruzzone, Pio Ong, Willian T. Lunardi, Martin Andreoni, Paulo Tabuada, Aaron D. Ames
2025	C	`conf`	Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints. ACC Xiao Tan, Ersin Das, Aaron D. Ames, Joel W. Burdick
2024	J	`jnl`	A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. CoRR Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou
2024	J	`jnl`	A Contract Theory for Layered Control Architectures. CoRR Manuel Mazo Jr., William D. Compton, Max H. Cohen, Aaron D. Ames
2024	C	`conf`	A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. ACC Jaemin Lee, Jeeseop Kim, Aaron D. Ames
2024	C	`conf`	Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion. ACC Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames
2024	J	`jnl`	Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures. CoRR Noel Csomay-Shanklin, Aaron D. Ames
2024	—	`conf`	Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation. CDC Zachary Olkin, Aaron D. Ames
2024	J	`jnl`	Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation. CoRR Zachary Olkin, Aaron D. Ames
2024	J	`jnl`	Bounding Stochastic Safety: Leveraging Freedman's Inequality With Discrete-Time Control Barrier Functions. IEEE Control. Syst. Lett. Ryan K. Cosner, Preston Culbertson, Aaron D. Ames
2024	J	`jnl`	Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions. CoRR Ryan K. Cosner, Preston Culbertson, Aaron D. Ames
2024	J	`jnl`	Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions. CoRR Tamás G. Molnár, Suresh K. Kannan, James Cunningham, Kyle Dunlap, Kerianne L. Hobbs, Aaron D. Ames
2024	—	`conf`	Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. CDC William D. Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames
2024	J	`jnl`	Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. CoRR William D. Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames
2024	J	`jnl`	Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. CoRR Max H. Cohen, Ryan K. Cosner, Aaron D. Ames
2024	J	`jnl`	Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. IEEE Control. Syst. Lett. Max H. Cohen, Ryan K. Cosner, Aaron D. Ames
2024	J	`jnl`	DROP: Dexterous Reorientation via Online Planning. CoRR Albert H. Li, Preston Culbertson, Vince Kurtz, Aaron D. Ames
2024	A	`conf`	Data-Driven Predictive Control for Robust Exoskeleton Locomotion. IROS Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
2024	J	`jnl`	Data-Driven Predictive Control for Robust Exoskeleton Locomotion. CoRR Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
2024	J	`jnl`	Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. CoRR William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames
2024	A	`conf`	Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. IROS Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames
2024	J	`jnl`	Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. CoRR Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames
2024	J	`jnl`	Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes. CoRR Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
2024	J	`jnl`	Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications. CoRR Josefine B. Graebener, Apurva S. Badithela, Denizalp Goktas, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray
2024	A*	`conf`	Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. ICRA Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames
2024	Misc	`conf`	Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. CoRL Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, Jeannette Bohg
2024	J	`jnl`	Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. CoRR Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, Jeannette Bohg
2024	—	`conf`	Hierarchical Event-Triggered Systems: Safe Learning of Quasi-Optimal Deadline Policies. CDC Pio Ong, Manuel Mazo, Aaron D. Ames
2024	J	`jnl`	Hierarchical Event-Triggered Systems: Safe Learning of Quasi-Optimal Deadline Policies. CoRR Pio Ong, Manuel Mazo Jr., Aaron D. Ames
2024	J	`jnl`	Layered Control Systems Operating on Multiple Clocks. IEEE Control. Syst. Lett. Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray
2024	A	`conf`	Learned Regions of Attraction for Safe Motion Primitive Transitions. IROS Wyatt Ubellacker, Aaron D. Ames
2024	J	`jnl`	Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions. CoRR William D. Compton, Max H. Cohen, Aaron D. Ames
2024	J	`jnl`	Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation. CoRR Yitaek Kim, Ersin Das, Jeeseop Kim, Aaron D. Ames, Joel W. Burdick, Christoffer Sloth
2024	C	`conf`	Multi-Domain Walking with Reduced-Order Models of Locomotion. ACC Min Dai, Jaemin Lee, Aaron D. Ames
2024	J	`jnl`	Preferential Multi-Objective Bayesian Optimization. CoRR Raul Astudillo, Kejun Li, Maegan Tucker, Chu Xin Cheng, Aaron D. Ames, Yisong Yue
2024	C	`conf`	Receding Horizon CBF-Based Multi-Layer Controllers for Safe Trajectory Generation. ACC Lorenzo Sforni, Giuseppe Notarstefano, Aaron D. Ames
2024	J	`jnl`	Rectified Control Barrier Functions for High-Order Safety Constraints. CoRR Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2024	J	`jnl`	Rectified Control Barrier Functions for High-Order Safety Constraints. IEEE Control. Syst. Lett. Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2024	J	`jnl`	Risk-Averse Decision Making Under Uncertainty. IEEE Trans. Autom. Control. Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
2024	J	`jnl`	Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification. CoRR Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Lars Lindemann, Margaret P. Chapman, George J. Pappas, Aaron D. Ames, Joel W. Burdick
2024	J	`jnl`	Robust Adaptive Safe Robotic Grasping with Tactile Sensing. CoRR Yitaek Kim, Jeeseop Kim, Albert H. Li, Aaron D. Ames, Christoffer Sloth
2024	A	`conf`	Robust Agility via Learned Zero Dynamics Policies. IROS Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames
2024	J	`jnl`	Robust Agility via Learned Zero Dynamics Policies. CoRR Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames
2024	—	`conf`	Robust Safety-Critical Control for Input-Delayed System with Delay Estimation. ECC Yitaek Kim, Jeeseop Kim, Aaron D. Ames, Christoffer Sloth
2024	J	`jnl`	Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. IEEE Control. Syst. Lett. Ersin Das, Aaron D. Ames, Joel W. Burdick
2024	J	`jnl`	Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. CoRR Ersin Das, Aaron D. Ames, Joel W. Burdick
2024	—	`conf`	Safety of Linear Systems under Severe Sensor Attacks. CDC Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
2024	J	`jnl`	Safety of Linear Systems under Severe Sensor Attacks. CoRR Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames
2024	J	`jnl`	Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models. CoRR Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2024	C	`conf`	Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. ACC Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen
2024	J	`jnl`	Safety-Critical Controller Synthesis with Reduced-Order Models. CoRR Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames
2024	A*	`conf`	Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. ICRA Jeeseop Kim, Jaemin Lee, Aaron D. Ames
2024	A	`conf`	Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. IROS Jaemin Lee, Jeeseop Kim, Aaron D. Ames
2024	J	`jnl`	Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. CoRR Jaemin Lee, Jeeseop Kim, Aaron D. Ames
2024	A*	`conf`	Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. ICRA Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames
2024	J	`jnl`	Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination. CoRR Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames
2024	J	`jnl`	Safety-critical control for autonomous systems: Control barrier functions via reduced-order models. Annu. Rev. Control. Max H. Cohen, Tamás G. Molnár, Aaron D. Ames
2024	C	`conf`	Sample-and-Hold Safety with Control Barrier Functions. ACC Gilbert Bahati, Pio Ong, Aaron D. Ames
2024	J	`jnl`	Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification. Artif. Intell. Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames
2024	J	`jnl`	Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks. CoRR Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray
2024	A*	`conf`	Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. ICRA Maegan Tucker, Kejun Li, Aaron D. Ames
2024	A	`conf`	Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. IROS Albert H. Li, Preston Culbertson, Aaron D. Ames
2024	J	`jnl`	Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. CoRR Albert H. Li, Preston Culbertson, Aaron D. Ames
2024	J	`jnl`	Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control. CoRR Nikolai Matni, Aaron D. Ames, John C. Doyle
2024	J	`jnl`	Zero-order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints. CoRR Xiao Tan, Ersin Das, Aaron D. Ames, Joel W. Burdick
2023	J	`jnl`	A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. CoRR Jaemin Lee, Jeeseop Kim, Aaron D. Ames
2023	J	`jnl`	A review of current state-of-the-art control methods for lower-limb powered prostheses. Annu. Rev. Control. Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames
2023	J	`jnl`	An Input-to-State Stability Perspective on Robust Locomotion. CoRR Maegan Tucker, Aaron D. Ames
2023	J	`jnl`	An Input-to-State Stability Perspective on Robust Locomotion. IEEE Control. Syst. Lett. Maegan Tucker, Aaron D. Ames
2023	J	`jnl`	Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. CoRR Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
2023	—	`conf`	Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CDC Prithvi Akella, Aaron D. Ames
2023	J	`jnl`	Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CoRR Prithvi Akella, Aaron D. Ames
2023	J	`jnl`	Characterizing Smooth Safety Filters via the Implicit Function Theorem. CoRR Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames
2023	J	`jnl`	Characterizing Smooth Safety Filters via the Implicit Function Theorem. IEEE Control. Syst. Lett. Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames
2023	J	`jnl`	Composing Control Barrier Functions for Complex Safety Specifications. CoRR Tamás G. Molnár, Aaron D. Ames
2023	J	`jnl`	Composing Control Barrier Functions for Complex Safety Specifications. IEEE Control. Syst. Lett. Tamás G. Molnár, Aaron D. Ames
2023	J	`jnl`	Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles. IEEE Trans. Control. Syst. Technol. Anil Alan, Andrew J. Taylor, Chaozhe R. He, Aaron D. Ames, Gábor Orosz
2023	A	`conf`	Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. IROS Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames
2023	A*	`conf`	Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. ICRA Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
2023	J	`jnl`	Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach. IEEE Access Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed
2023	J	`jnl`	Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions. IEEE Control. Syst. Lett. Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz
2023	A*	`conf`	Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. ICRA Rachel Gehlhar, Aaron D. Ames
2023	A	`conf`	FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. IROS Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames
2023	J	`jnl`	FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. CoRR Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames
2023	J	`jnl`	Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. CoRR Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames
2023	A	`conf`	Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. IROS Jaemin Lee, Jeeseop Kim, Aaron D. Ames
2023	J	`jnl`	Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. CoRR Jaemin Lee, Jeeseop Kim, Aaron D. Ames
2023	—	`conf`	Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CDC Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames
2023	J	`jnl`	Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CoRR Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames
2023	—	`conf`	Input-to-State Stability in Probability. CDC Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames
2023	J	`jnl`	Input-to-State Stability in Probability. CoRR Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames
2023	—	`conf`	Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CDC Pio Ong, Aaron D. Ames
2023	J	`jnl`	Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CoRR Pio Ong, Aaron D. Ames
2023	J	`jnl`	Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. IEEE Trans. Robotics Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed
2023	—	`conf`	Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. L4DC Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames
2023	J	`jnl`	Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration. CoRR Prithvi Akella, Apurva Badithela, Richard M. Murray, Aaron D. Ames
2023	A*	`conf`	Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. ICRA Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames
2023	J	`jnl`	Multi-Domain Walking with Reduced-Order Models of Locomotion. CoRR Min Dai, Jaemin Lee, Aaron D. Ames
2023	A*	`conf`	Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. ICRA Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
2023	—	`conf`	On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CDC Tamás G. Molnár, Gábor Orosz, Aaron D. Ames
2023	J	`jnl`	On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CoRR Tamás G. Molnár, Gábor Orosz, Aaron D. Ames
2023	J	`jnl`	PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability. CoRR Albert H. Li, Preston Culbertson, Aaron D. Ames
2023	J	`jnl`	Parameterized Barrier Functions to Guarantee Safety Under Uncertainty. IEEE Control. Syst. Lett. Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz
2023	J	`jnl`	Parameterized Barrier Functions to Guarantee Safety under Uncertainty. CoRR Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz
2023	A	`conf`	Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. IROS Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
2023	J	`jnl`	Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. CoRR Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
2023	A*	`conf`	Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. ICRA Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames
2023	A*	`conf`	Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. ICRA Wyatt Ubellacker, Aaron D. Ames
2023	—	`conf`	Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. Robotics: Science and Systems Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames
2023	J	`jnl`	Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. CoRR Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames
2023	J	`jnl`	Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions. IEEE Control. Syst. Lett. Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames
2023	J	`jnl`	Safe Online Dynamics Learning with Initially Unknown Models and Infeasible Safety Certificates. CoRR Alexandre Capone, Ryan K. Cosner, Aaron D. Ames, Sandra Hirche
2023	—	`conf`	Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces. CDC Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff
2023	J	`jnl`	Safety-Critical Control With Input Delay in Dynamic Environment. IEEE Trans. Control. Syst. Technol. Tamás G. Molnár, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
2023	J	`jnl`	Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles. CoRR Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen
2023	C	`conf`	Safety-Critical Control with Bounded Inputs via Reduced Order Models. ACC Tamás G. Molnár, Aaron D. Ames
2023	J	`jnl`	Safety-Critical Control with Bounded Inputs via Reduced Order Models. CoRR Tamás G. Molnár, Aaron D. Ames
2023	A*	`conf`	Safety-Critical Controller Verification via Sim2Real Gap Quantification. ICRA Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
2023	A	`conf`	Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. IROS Jeeseop Kim, Jaemin Lee, Aaron D. Ames
2023	J	`jnl`	Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. CoRR Jeeseop Kim, Jaemin Lee, Aaron D. Ames
2023	J	`jnl`	Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. CoRR Jeeseop Kim, Jaemin Lee, Aaron D. Ames
2023	J	`jnl`	Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. CoRR Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames
2023	A*	`conf`	Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. ICRA Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray
2023	J	`jnl`	Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. CoRR Maegan Tucker, Kejun Li, Aaron D. Ames
2023	J	`jnl`	The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms. IEEE Trans. Autom. Control. Ugo Rosolia, Yuxiao Chen, Shreyansh Daftry, Masahiro Ono, Yisong Yue, Aaron D. Ames
2023	J	`jnl`	Violation-Free Inter-Sampling Safety: from Control Barrier Functions to Tunable Controllers with Input-to-State Safety Guarantees. CoRR Gilbert Bahati, Pio Ong, Aaron D. Ames
2022	J	`jnl`	3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. IEEE Trans. Robotics Xiaobin Xiong, Aaron D. Ames
2022	J	`jnl`	A Barrier-Based Scenario Approach to Verify Safety-Critical Systems. CoRR Prithvi Akella, Aaron D. Ames
2022	J	`jnl`	A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems. IEEE Robotics Autom. Lett. Prithvi Akella, Aaron D. Ames
2022	J	`jnl`	A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. IEEE Control. Syst. Lett. Devansh Agrawal, Hardik Parwana, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou
2022	C	`conf`	A Control Barrier Function Perspective on Lyapunov-Based Economic Model Predictive Control. ACC Helen Durand, Aaron D. Ames
2022	J	`jnl`	A Scenario Approach to Risk-Aware Safety-Critical System Verification. CoRR Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames
2022	J	`jnl`	Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
2022	A*	`conf`	Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. ICRA Min Dai, Xiaobin Xiong, Aaron D. Ames
2022	J	`jnl`	Control Barrier Functionals: Safety-critical Control for Time Delay Systems. CoRR Adam K. Kiss, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz
2022	J	`jnl`	Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles. CoRR Anil Alan, Andrew J. Taylor, Chaozhe R. He, Aaron D. Ames, Gábor Orosz
2022	J	`jnl`	Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. CoRR Min Dai, Xiaobin Xiong, Aaron D. Ames
2022	J	`jnl`	Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. CoRR Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
2022	J	`jnl`	Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots. IEEE Control. Syst. Lett. Vinay R. Kamidi, Jeeseop Kim, Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed
2022	J	`jnl`	Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. IEEE Control. Syst. Lett. Prithvi Akella, Aaron D. Ames
2022	J	`jnl`	Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions. CoRR Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz
2022	J	`jnl`	Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. CoRR Rachel Gehlhar, Aaron D. Ames
2022	—	`conf`	End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CDC Ryan K. Cosner, Yisong Yue, Aaron D. Ames
2022	J	`jnl`	End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CoRR Ryan K. Cosner, Yisong Yue, Aaron D. Ames
2022	A	`conf`	From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. IROS Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
2022	J	`jnl`	From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. CoRR Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
2022	J	`jnl`	Input-to-State Safety with Input Delay in Longitudinal Vehicle Control. CoRR Tamás G. Molnár, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
2022	J	`jnl`	Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. IEEE Robotics Autom. Lett. Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames
2022	J	`jnl`	Iterative Model Predictive Control for Piecewise Systems. IEEE Control. Syst. Lett. Ugo Rosolia, Aaron D. Ames
2022	J	`jnl`	Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. CoRR Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed
2022	A*	`conf`	Learning Controller Gains on Bipedal Walking Robots via User Preferences. ICRA Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames
2022	J	`jnl`	Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. CoRR Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames
2022	A*	`conf`	LyaNet: A Lyapunov Framework for Training Neural ODEs. ICML Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue
2022	J	`jnl`	LyaNet: A Lyapunov Framework for Training Neural ODEs. CoRR Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue
2022	J	`jnl`	Model-Free Safety-Critical Control for Robotic Systems. IEEE Robotics Autom. Lett. Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames
2022	J	`jnl`	Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. IEEE Control. Syst. Lett. Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou
2022	—	`conf`	Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. CDC Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia, Aaron D. Ames
2022	J	`jnl`	Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. CoRR Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia, Aaron D. Ames
2022	J	`jnl`	Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. IEEE Robotics Autom. Lett. Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
2022	—	`conf`	Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. L4DC Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames
2022	J	`jnl`	Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. CoRR Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames
2022	J	`jnl`	Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. CoRR Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
2022	J	`jnl`	Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions. IEEE Robotics Autom. Lett. Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames
2022	J	`jnl`	Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions. CoRR Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames
2022	J	`jnl`	POLAR: Preference Optimization and Learning Algorithms for Robotics. CoRR Maegan Tucker, Kejun Li, Yisong Yue, Aaron D. Ames
2022	—	`conf`	Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
2022	J	`jnl`	Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing. IEEE Robotics Autom. Lett. Rachel Gehlhar, Je-Han Yang, Aaron D. Ames
2022	J	`jnl`	Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. IEEE Control. Syst. Lett. Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
2022	J	`jnl`	Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. CoRR Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames
2022	J	`jnl`	Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CoRR Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames
2022	J	`jnl`	Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. CoRR Wyatt Ubellacker, Aaron D. Ames
2022	J	`jnl`	Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models. IEEE Robotics Autom. Lett. Abhishek Pandala, Randall T. Fawcett, Ugo Rosolia, Aaron D. Ames, Kaveh Akbari Hamed
2022	J	`jnl`	Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers. IEEE Control. Syst. Lett. Randall T. Fawcett, Abhishek Pandala, Aaron D. Ames, Kaveh Akbari Hamed
2022	—	`conf`	Safe Backstepping with Control Barrier Functions. CDC Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames
2022	J	`jnl`	Safe Backstepping with Control Barrier Functions. CoRR Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames
2022	J	`jnl`	Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions. CoRR Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames
2022	J	`jnl`	Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions. IEEE Control. Syst. Lett. Anil Alan, Andrew J. Taylor, Chaozhe R. He, Gábor Orosz, Aaron D. Ames
2022	A	`conf`	Safe Drone Flight with Time-Varying Backup Controllers. IROS Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames
2022	J	`jnl`	Safe Drone Flight with Time-Varying Backup Controllers. CoRR Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames
2022	J	`jnl`	Safety and Efficiency in Robotics: The Control Barrier Functions Approach. IEEE Robotics Autom. Mag. Federica Ferraguti, Chiara Talignani Landi, Andrew Singletary, Hsien-Chung Lin, Aaron D. Ames, Cristian Secchi, Marcello Bonfè
2022	—	`conf`	Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. CDC Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner, Yisong Yue, Aaron D. Ames
2022	J	`jnl`	Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. CoRR Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner, Yisong Yue, Aaron D. Ames
2022	—	`conf`	Safety-Aware Preference-Based Learning for Safety-Critical Control. L4DC Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames
2022	J	`jnl`	Safety-Critical Controller Verification via Sim2Real Gap Quantification. CoRR Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
2022	J	`jnl`	Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
2022	J	`jnl`	Safety-Critical Manipulation for Collision-Free Food Preparation. CoRR Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames
2022	J	`jnl`	Safety-Critical Manipulation for Collision-Free Food Preparation. IEEE Robotics Autom. Lett. Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames
2022	J	`jnl`	Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification. CoRR Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames
2022	J	`jnl`	Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. IEEE Control. Syst. Lett. Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue, Paulo Tabuada, Aaron D. Ames
2022	A*	`conf`	Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. ICRA Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman
2022	J	`jnl`	Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. CoRR Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman
2022	—	`conf`	Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CDC Pio Ong, Gilbert Bahati, Aaron D. Ames
2022	J	`jnl`	Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CoRR Pio Ong, Gilbert Bahati, Aaron D. Ames
2022	J	`jnl`	Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. CoRR Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray
2022	J	`jnl`	Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
2022	J	`jnl`	Toward a Data-Driven Template Model for Quadrupedal Locomotion. IEEE Robotics Autom. Lett. Randall T. Fawcett, Kereshmeh Afsari, Aaron D. Ames, Kaveh Akbari Hamed
2022	J	`jnl`	Unified Multirate Control: From Low-Level Actuation to High-Level Planning. IEEE Trans. Autom. Control. Ugo Rosolia, Andrew Singletary, Aaron D. Ames
2022	J	`jnl`	Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic. CoRR Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff
2021	J	`jnl`	3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization. CoRR Xiaobin Xiong, Aaron D. Ames
2021	J	`jnl`	A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. IEEE Control. Syst. Lett. Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames
2021	C	`conf`	ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. WAFR Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg
2021	C	`conf`	Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. ACC Mohamed Maghenem, Andrew J. Taylor, Aaron D. Ames, Ricardo G. Sanfelice
2021	—	`conf`	Backup Control Barrier Functions: Formulation and Comparative Study. CDC Yuxiao Chen, Mrdjan Jankovic, Mario A. Santillo, Aaron D. Ames
2021	J	`jnl`	Backup Control Barrier Functions: Formulation and Comparative Study. CoRR Yuxiao Chen, Mrdjan Jankovic, Mario A. Santillo, Aaron D. Ames
2021	J	`jnl`	Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. CoRR Min Dai, Xiaobin Xiong, Aaron D. Ames
2021	C	`conf`	Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach. ACC Adam K. Kiss, Tamás G. Molnár, Daniel Bachrathy, Aaron D. Ames, Gábor Orosz
2021	J	`jnl`	Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems. IEEE Control. Syst. Lett. Rohit Konda, Aaron D. Ames, Samuel Coogan
2021	A	`conf`	Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. IROS Andrew Singletary, Karl Klingebiel, Joseph Bourne, N. Andrew Browning, Phil Tokumaru, Aaron D. Ames
2021	A*	`conf`	Constrained Risk-Averse Markov Decision Processes. AAAI Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
2021	J	`jnl`	Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking. CoRR Jenna Reher, Aaron D. Ames
2021	J	`jnl`	Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. IEEE Robotics Autom. Lett. Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames
2021	J	`jnl`	Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion. IEEE Control. Syst. Lett. Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames
2021	J	`jnl`	Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators. IEEE Control. Syst. Lett. Carl Folkestad, Yuxiao Chen, Aaron D. Ames, Joel W. Burdick
2021	C	`conf`	Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators. ACC Carl Folkestad, Yuxiao Chen, Aaron D. Ames, Joel W. Burdick
2021	J	`jnl`	Decentralized Task and Path Planning for Multi-Robot Systems. IEEE Robotics Autom. Lett. Yuxiao Chen, Ugo Rosolia, Aaron D. Ames
2021	J	`jnl`	Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. CoRR Prithvi Akella, Aaron D. Ames
2021	J	`jnl`	Dynamic Walking: Toward Agile and Efficient Bipedal Robots. Annu. Rev. Control. Robotics Auton. Syst. Jenna Reher, Aaron D. Ames
2021	—	`conf`	Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. L4DC Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames
2021	J	`jnl`	Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. CoRR Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames
2021	—	`conf`	Estimate-to-State Stability for Hybrid Human-Prosthesis Systems. CDC Rachel Gehlhar, Aaron D. Ames
2021	A*	`conf`	Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. ICRA Xiaobin Xiong, Jenna Reher, Aaron D. Ames
2021	J	`jnl`	Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach. IEEE Control. Syst. Lett. Yuxiao Chen, Andrew Singletary, Aaron D. Ames
2021	J	`jnl`	Integral Control Barrier Functions for Dynamically Defined Control Laws. IEEE Control. Syst. Lett. Aaron D. Ames, Gennaro Notomista, Yorai Wardi, Magnus Egerstedt
2021	J	`jnl`	Interactive multi-modal motion planning with Branch Model Predictive Control. CoRR Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames
2021	A*	`conf`	Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. ICRA Jenna Reher, Aaron D. Ames
2021	J	`jnl`	Iterative Model Predictive Control for Piecewise Systems. CoRR Ugo Rosolia, Aaron D. Ames
2021	J	`jnl`	Learning Controller Gains on Bipedal Walking Robots via User Preferences. CoRR Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames
2021	J	`jnl`	Learning Performance Bounds for Safety-Critical Systems. CoRR Prithvi Akella, Ugo Rosolia, Aaron D. Ames
2021	J	`jnl`	Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. IEEE Trans. Control. Syst. Technol. Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela
2021	J	`jnl`	Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach. CoRR Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue
2021	A	`conf`	Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control. IROS Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue
2021	A	`conf`	Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State. IROS Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor, Tamás G. Molnár, Katherine L. Bouman, Aaron D. Ames
2021	J	`jnl`	Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State. CoRR Ryan K. Cosner, Andrew W. Singletary, Andrew J. Taylor, Tamás G. Molnár, Katherine L. Bouman, Aaron D. Ames
2021	J	`jnl`	Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. CoRR Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames
2021	J	`jnl`	Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. IEEE Trans. Syst. Man Cybern. Syst. Vahid Azimi, Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon, Aaron D. Ames
2021	A*	`conf`	Model-Dependent Prosthesis Control with Interaction Force Estimation. ICRA Rachel Gehlhar, Aaron D. Ames
2021	J	`jnl`	Model-Dependent Prosthesis Control with Real-Time Force Sensing. CoRR Rachel Gehlhar, Je-Han Yang, Aaron D. Ames
2021	J	`jnl`	Model-Free Safety-Critical Control for Robotic Systems. CoRR Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames
2021	A*	`conf`	Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. ICRA Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter
2021	J	`jnl`	Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. IEEE Control. Syst. Lett. Ugo Rosolia, Aaron D. Ames
2021	J	`jnl`	Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions. CoRR Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou
2021	J	`jnl`	Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. CoRR Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
2021	J	`jnl`	Online Decentralized Decision Making With Inequality Constraints: An ADMM approach. IEEE Control. Syst. Lett. Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames
2021	J	`jnl`	Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames
2021	C	`conf`	Online decentralized decision making with inequality constraints: An ADMM approach. ACC Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames
2021	A*	`conf`	Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. ICRA Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames
2021	A*	`conf`	ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes. ICRA Kejun Li, Maegan Tucker, Erdem Biyik, Ellen R. Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames
2021	J	`jnl`	Risk-Averse Decision Making Under Uncertainty. CoRR Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
2021	—	`conf`	Risk-Averse Stochastic Shortest Path Planning. CDC Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames
2021	J	`jnl`	Risk-Averse Stochastic Shortest Path Planning. CoRR Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames
2021	—	`conf`	Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CDC Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames
2021	J	`jnl`	SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. IEEE Robotics Autom. Lett. Xiaobin Xiong, Aaron D. Ames
2021	J	`jnl`	SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. CoRR Xiaobin Xiong, Aaron D. Ames
2021	J	`jnl`	Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions. CoRR Anil Alan, Andrew J. Taylor, Chaozhe R. He, Gábor Orosz, Aaron D. Ames
2021	J	`jnl`	Safety-Aware Preference-Based Learning for Safety-Critical Control. CoRR Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames
2021	J	`jnl`	Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts. IEEE Trans. Control. Netw. Syst. Yuxiao Chen, James Anderson, Karanjit Kalsi, Aaron D. Ames, Steven H. Low
2021	J	`jnl`	Safety-Critical Control of Compartmental Epidemiological Models With Measurement Delays. IEEE Control. Syst. Lett. Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames
2021	C	`conf`	Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays. ACC Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames
2021	J	`jnl`	Safety-Critical Control with Input Delay in Dynamic Environment. CoRR Tamás G. Molnár, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
2021	J	`jnl`	Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. IEEE Control. Syst. Lett. Andrew J. Taylor, Pio Ong, Jorge Cortés, Aaron D. Ames
2021	C	`conf`	Safety-Critical Kinematic Control of Robotic Systems. ACC Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
2021	J	`jnl`	Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. CoRR Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue, Paulo Tabuada, Aaron D. Ames
2021	J	`jnl`	Separable Control Lyapunov Functions With Application to Prostheses. IEEE Control. Syst. Lett. Rachel Gehlhar, Aaron D. Ames
2021	—	`conf`	Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. ADHS Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames
2021	—	`conf`	Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. CDC Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
2021	J	`jnl`	Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. CoRR Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
2021	—	`conf`	Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty. CDC Andrew J. Taylor, Victor D. Dorobantu, Sarah Dean, Benjamin Recht, Yisong Yue, Aaron D. Ames
2021	A*	`conf`	Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. ICRA Eric R. Ambrose, Wen-Loong Ma, Aaron D. Ames
2021	A	`conf`	Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. IROS Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames
2021	J	`jnl`	Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. CoRR Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames
2021	J	`jnl`	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 Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin
2020	J	`jnl`	A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. CoRR Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames
2020	J	`jnl`	A Scalable Safety Critical Control Framework for Nonlinear Systems. IEEE Access Thomas Gurriet, Mark Mote, Andrew Singletary, Petter Nilsson, Eric Feron, Aaron D. Ames
2020	J	`jnl`	ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. CoRR Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg
2020	C	`conf`	Adaptive Safety with Control Barrier Functions. ACC Andrew J. Taylor, Aaron D. Ames
2020	C	`conf`	An Inverse Dynamics Approach to Control Lyapunov Functions. ACC Jenna Reher, Claudia Kann, Aaron D. Ames
2020	—	`conf`	Barrier Functions for Multiagent-POMDPs with DTL Specifications. CDC Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames
2020	J	`jnl`	Barrier Functions for Multiagent-POMDPs with DTL Specifications. CoRR Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames
2020	J	`jnl`	Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces. Sci. Robotics 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
2020	J	`jnl`	Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. CoRR Andrew Singletary, Karl Klingebiel, Joseph Bourne, N. Andrew Browning, Phil Tokumaru, Aaron D. Ames
2020	J	`jnl`	Constrained Risk-Averse Markov Decision Processes. CoRR Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
2020	—	`conf`	Control Barrier Functions for Sampled-Data Systems with Input Delays. CDC Andrew Singletary, Yuxiao Chen, Aaron D. Ames
2020	J	`jnl`	Control Barrier Functions for Sampled-Data Systems with Input Delays. CoRR Andrew Singletary, Yuxiao Chen, Aaron D. Ames
2020	J	`jnl`	Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion. CoRR Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames
2020	A	`conf`	Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. IROS Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
2020	J	`jnl`	Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. CoRR Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames
2020	J	`jnl`	Decentralized Task and Path Planning for Multi-Robot Systems. CoRR Yuxiao Chen, Ugo Rosolia, Aaron D. Ames
2020	C	`conf`	Density Functions for Guaranteed Safety on Robotic Systems. ACC Yuxiao Chen, Andrew W. Singletary, Aaron D. Ames
2020	J	`jnl`	Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. CoRR Tatsuya Ibuki, Sean Wilson, Aaron D. Ames, Magnus Egerstedt
2020	J	`jnl`	Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. IEEE Control. Syst. Lett. Tatsuya Ibuki, Sean Wilson, Aaron D. Ames, Magnus Egerstedt
2020	C	`conf`	Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach. ACC Kaveh Akbari Hamed, Vinay R. Kamidi, Abhishek Pandala, Wen-Loong Ma, Aaron D. Ames
2020	J	`jnl`	Dynamic Walking: Toward Agile and Efficient Bipedal Robots. CoRR Jenna Reher, Aaron D. Ames
2020	J	`jnl`	Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping. IEEE Robotics Autom. Lett. Xiaobin Xiong, Aaron D. Ames
2020	J	`jnl`	Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping. CoRR Xiaobin Xiong, Aaron D. Ames
2020	A	`conf`	Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. IROS Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
2020	—	`conf`	Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions. CDC Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
2020	J	`jnl`	Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions. CoRR Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
2020	J	`jnl`	Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization. CoRR Prithvi Akella, Ugo Rosolia, Andrew Singletary, Aaron D. Ames
2020	A*	`conf`	From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. ICRA Wen-Loong Ma, Aaron D. Ames
2020	J	`jnl`	Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. CoRR Xiaobin Xiong, Jenna Reher, Aaron D. Ames
2020	Misc	`conf`	Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions. CoRL Sarah Dean, Andrew J. Taylor, Ryan K. Cosner, Benjamin Recht, Aaron D. Ames
2020	J	`jnl`	Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions. CoRR Sarah Dean, Andrew J. Taylor, Ryan K. Cosner, Benjamin Recht, Aaron D. Ames
2020	—	`ed.`	HSCC '20: 23rd ACM International Conference on Hybrid Systems: Computation and Control, Sydney, New South Wales, Australia, April 21-24, 2020 HSCC Aaron D. Ames, Sanjit A. Seshia, Jyotirmoy Deshmukh
2020	J	`jnl`	Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. IEEE Robotics Autom. Lett. Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma, Alexander Leonessa, Aaron D. Ames
2020	A	`conf`	Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. IROS Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames
2020	J	`jnl`	Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. CoRR Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames
2020	A*	`conf`	Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. ICRA Eric R. Ambrose, Aaron D. Ames
2020	—	`conf`	Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. ICCPS Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. Murray
2020	C	`conf`	Invariant Sets for Integrators and Quadrotor Obstacle Avoidance. ACC Ludvig Doeser, Petter Nilsson, Aaron D. Ames, Richard M. Murray
2020	J	`jnl`	Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. CoRR Jenna Reher, Aaron D. Ames
2020	—	`conf`	Learning for Safety-Critical Control with Control Barrier Functions. L4DC Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames
2020	J	`jnl`	Lidar-based exploration and discretization for mobile robot planning. CoRR Yuxiao Chen, Andrew Singletary, Aaron D. Ames
2020	C	`conf`	Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs. ACC Petter Nilsson, Aaron D. Ames
2020	J	`jnl`	Model-Dependent Prosthesis Control with Interaction Force Estimation. CoRR Rachel Gehlhar, Aaron D. Ames
2020	J	`jnl`	Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. CoRR Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter
2020	J	`jnl`	Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. CoRR Ugo Rosolia, Aaron D. Ames
2020	J	`jnl`	Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking. IEEE Trans. Control. Syst. Technol. Kaveh Akbari Hamed, Aaron D. Ames
2020	—	`conf`	Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. Robotics: Science and Systems Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames
2020	J	`jnl`	Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. CoRR Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames
2020	C	`conf`	On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction. ACC Ayush Pandey, Aaron D. Ames
2020	J	`jnl`	Online decentralized decision making with inequality constraints: an ADMM approach. CoRR Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames
2020	C	`conf`	Optimal Safe Controller Synthesis: A Density Function Approach. ACC Yuxiao Chen, Mohamadreza Ahmadi, Aaron D. Ames
2020	—	`conf`	Partially Observable Games for Secure Autonomy. SP (Workshops) Mohamadreza Ahmadi, Arun Viswanathan, Michel D. Ingham, Kymie Tan, Aaron D. Ames
2020	J	`jnl`	Partially Observable Games for Secure Autonomy. CoRR Mohamadreza Ahmadi, Arun Viswanathan, Michel D. Ingham, Kymie Tan, Aaron D. Ames
2020	A*	`conf`	Passive Dynamic Balancing and Walking in Actuated Environments. ICRA Jenna Reher, Noel Csomay-Shanklin, David L. Christensen, Bobby Bristow, Aaron D. Ames, Lanny S. Smoot
2020	A*	`conf`	Preference-Based Learning for Exoskeleton Gait Optimization. ICRA Maegan Tucker, Ellen R. Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel W. Burdick, Aaron D. Ames
2020	J	`jnl`	Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. CoRR Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames
2020	A	`conf`	Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots. IROS Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames
2020	J	`jnl`	ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes. CoRR Kejun Li, Maegan Tucker, Erdem Biyik, Ellen R. Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames
2020	J	`jnl`	Reactive motion planning with probabilistic safety guarantees. CoRR Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard M. Murray
2020	Misc	`conf`	Reactive motion planning with probabilisticsafety guarantees. CoRL Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard M. Murray
2020	J	`jnl`	Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator. CoRR Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbruck
2020	A*	`conf`	Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator. ICRA Chang Gao, Rachel Gehlhar, Aaron D. Ames, Shih-Chii Liu, Tobi Delbruck
2020	C	`conf`	Risk-Averse Planning Under Uncertainty. ACC Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
2020	J	`jnl`	Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. CoRR Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
2020	—	`conf`	Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties. CDC Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick
2020	J	`jnl`	Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties. CoRR Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick
2020	J	`jnl`	Safety-Critical Control of Active Interventions for COVID-19 Mitigation. IEEE Access Aaron D. Ames, Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz
2020	J	`jnl`	Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays. CoRR Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames
2020	J	`jnl`	Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. CoRR Andrew J. Taylor, Pio Ong, Jorge Cortés, Aaron D. Ames
2020	J	`jnl`	Safety-Critical Kinematic Control of Robotic Systems. CoRR Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
2020	A*	`conf`	Safety-Critical Rapid Aerial Exploration of Unknown Environments. ICRA Andrew Singletary, Thomas Gurriet, Petter Nilsson, Aaron D. Ames
2020	A	`conf`	Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. IROS Xiaobin Xiong, Aaron D. Ames
2020	J	`jnl`	Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. CoRR Xiaobin Xiong, Aaron D. Ames
2020	J	`jnl`	Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty. CoRR Andrew J. Taylor, Victor D. Dorobantu, Sarah Dean, Benjamin Recht, Yisong Yue, Aaron D. Ames
2020	J	`jnl`	Towards Variable Assistance for Lower Body Exoskeletons. IEEE Robotics Autom. Lett. Thomas Gurriet, Maegan Tucker, Alexis Duburcq, Guilhem Boeris, Aaron D. Ames
2020	J	`jnl`	Unified Multi-Rate Control: from Low Level Actuation to High Level Planning. CoRR Ugo Rosolia, Andrew Singletary, Aaron D. Ames
2019	—	`conf`	A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability. CDC Andrew J. Taylor, Victor D. Dorobantu, Meera Krishnamoorthy, Hoang Minh Le, Yisong Yue, Aaron D. Ames
2019	J	`jnl`	A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability. CoRR Andrew J. Taylor, Victor D. Dorobantu, Meera Krishnamoorthy, Hoang Minh Le, Yisong Yue, Aaron D. Ames
2019	—	`conf`	A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees. CDC Thomas Gurriet, Mark Mote, Andrew Singletary, Eric Feron, Aaron D. Ames
2019	J	`jnl`	Adaptive Safety with Control Barrier Functions. CoRR Andrew J. Taylor, Aaron D. Ames
2019	J	`jnl`	An Inverse Dynamics Approach to Control Lyapunov Functions. CoRR Jenna Reher, Claudia Kann, Aaron D. Ames
2019	J	`jnl`	Characterizing Safety: Minimal Barrier Functions from Scalar Comparison Systems. CoRR Rohit Konda, Aaron D. Ames, Samuel Coogan
2019	C	`conf`	Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts. ACC Yuxiao Chen, James Anderson, Karan Kalsi, Steven H. Low, Aaron D. Ames
2019	—	`conf`	Control Barrier Functions: Theory and Applications. ECC Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada
2019	J	`jnl`	Control Barrier Functions: Theory and Applications. CoRR Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, Paulo Tabuada
2019	J	`jnl`	Control of Separable Subsystems with Application to Prostheses. CoRR Rachel Gehlhar, Jenna Reher, Aaron D. Ames
2019	A	`conf`	Design and Comparative Analysis of 1D Hopping Robots. IROS Eric R. Ambrose, Noel Csomay-Shanklin, Yizhar Or, Aaron D. Ames
2019	J	`jnl`	Duality between density function and value function with applications in constrained optimal control and Markov Decision Process. CoRR Yuxiao Chen, Aaron D. Ames
2019	A*	`conf`	Dynamic Walking on Slippery Surfaces : Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. ICRA Wen-Loong Ma, Yizhar Or, Aaron D. Ames
2019	—	`conf`	Dynamic Walking with Compliance on a Cassie Bipedal Robot. ECC Jacob Reher, Wen-Loong Ma, Aaron D. Ames
2019	J	`jnl`	Dynamic Walking with Compliance on a Cassie Bipedal Robot. CoRR Jacob Reher, Wen-Loong Ma, Aaron D. Ames
2019	C	`conf`	Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers. ACC Kaveh Akbari Hamed, Wen-Loong Ma, Aaron D. Ames
2019	A	`conf`	Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems IROS Andrew J. Taylor, Victor D. Dorobantu, Hoang Minh Le, Yisong Yue, Aaron D. Ames
2019	J	`jnl`	Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems. CoRR Andrew J. Taylor, Victor D. Dorobantu, Hoang Minh Le, Yisong Yue, Aaron D. Ames
2019	A*	`conf`	Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. ICRA Alexander H. Chang, Christian Hubicki, Aaron D. Ames, Patricio A. Vela
2019	A	`conf`	First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. IROS Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
2019	J	`jnl`	First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. CoRR Wen-Loong Ma, Kaveh Akbari Hamed, Aaron D. Ames
2019	J	`jnl`	From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. CoRR Wen-Loong Ma, Aaron D. Ames
2019	J	`jnl`	Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. CoRR Eric R. Ambrose, Aaron D. Ames
2019	J	`jnl`	Input-to-State Safety With Control Barrier Functions. IEEE Control. Syst. Lett. Shishir Kolathaya, Aaron D. Ames
2019	J	`jnl`	Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. CoRR Filip Klaesson, Petter Nilsson, Aaron D. Ames, Richard M. Murray
2019	J	`jnl`	Learning for Safety-Critical Control with Control Barrier Functions. CoRR Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames
2019	J	`jnl`	Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. CoRR Xiaobin Xiong, Aaron D. Ames
2019	A	`conf`	Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. IROS Xiaobin Xiong, Aaron D. Ames
2019	A	`conf`	Online Active Safety for Robotic Manipulators. IROS Andrew Singletary, Petter Nilsson, Thomas Gurriet, Aaron D. Ames
2019	—	`conf`	Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations. CDC Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry
2019	J	`jnl`	Optimal Motion Planning for Multi-Modal Hybrid Locomotion. CoRR Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
2019	J	`jnl`	Optimal Safe Controller Synthesis: A Density Function Approach. CoRR Yuxiao Chen, Mohamadreza Ahmadi, Aaron D. Ames
2019	—	`conf`	Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots. CDC Vishal Murali, Aaron D. Ames, Erik I. Verriest
2019	A	`conf`	Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. IROS Xiaobin Xiong, Aaron D. Ames
2019	J	`jnl`	Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. CoRR Xiaobin Xiong, Aaron D. Ames
2019	J	`jnl`	Preference-Based Learning for Exoskeleton Gait Optimization. CoRR Maegan Tucker, Ellen R. Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel Burdick, Aaron D. Ames
2019	C	`conf`	Realizable Set Invariance Conditions for Cyber-Physical Systems. ACC Thomas Gurriet, Petter Nilsson, Andrew Singletary, Aaron D. Ames
2019	J	`jnl`	Risk-Averse Planning Under Uncertainty. CoRR Mohamadreza Ahmadi, Masahiro Ono, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
2019	—	`conf`	Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. CDC Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames
2019	J	`jnl`	Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. CoRR Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames
2019	C	`conf`	Safety Functionals for Time Delay Systems. ACC Gábor Orosz, Aaron D. Ames
2019	J	`jnl`	Safety-Critical Control Synthesis for network systems with Control Barrier Functions and Assume-Guarantee Contracts. CoRR Yuxiao Chen, James Anderson, Karan Kalsi, Aaron D. Ames, Steven H. Low
2019	J	`jnl`	Stabilization of Exoskeletons through Active Ankle Compensation. CoRR Thomas Gurriet, Maegan Tucker, Claudia Kann, Guilhem Boeris, Aaron D. Ames
2019	J	`jnl`	Towards Variable Assistance for Lower Body Exoskeletons. CoRR Thomas Gurriet, Maegan Tucker, Alexis Duburcq, Guilhem Boeris, Aaron D. Ames
2018	—	`conf`	An Online Approach to Active Set Invariance. CDC Thomas Gurriet, Mark Mote, Aaron D. Ames, Eric Feron
2018	—	`conf`	Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control. CDC Petter Nilsson, Aaron D. Ames
2018	A	`conf`	Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control. IROS Xiaobin Xiong, Aaron D. Ames
2018	J	`jnl`	Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control. CoRR Xiaobin Xiong, Aaron D. Ames
2018	—	`conf`	Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. Humanoids Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
2018	J	`jnl`	Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts. CoRR Yuxiao Chen, James Anderson, Karan Kalsi, Steven H. Low, Aaron D. Ames
2018	J	`jnl`	Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. IEEE Trans Autom. Sci. Eng. Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames
2018	—	`conf`	Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. Humanoids Xiaobin Xiong, Aaron D. Ames
2018	J	`jnl`	Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. IEEE Robotics Autom. Lett. Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames
2018	J	`jnl`	Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. IEEE Trans. Robotics Ayonga Hereid, Christian M. Hubicki, Eric A. Cousineau, Aaron D. Ames
2018	J	`jnl`	Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. CoRR Wen-Loong Ma, Yizhar Or, Aaron D. Ames
2018	C	`conf`	Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. ACC Kaveh Akbari Hamed, Robert D. Gregg, Aaron D. Ames
2018	J	`jnl`	Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR 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
2018	J	`jnl`	Input to State Stability of Bipedal Walking Robots: Application to DURUS. CoRR Shishir Kolathaya, Jacob Reher, Aaron D. Ames
2018	C	`conf`	Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames
2018	C	`conf`	Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking. ACC Kaveh Akbari Hamed, Aaron D. Ames, Robert D. Gregg
2018	—	`conf`	Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations. ADHS Sofie Haesaert, Petter Nilsson, Cristian Ioan Vasile, Rohan Thakker, Ali-Akbar Agha-Mohammadi, Aaron D. Ames, Richard M. Murray
2018	—	`conf`	Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. Robotics: Science and Systems Petter Nilsson, Sofie Haesaert, Rohan Thakker, Kyohei Otsu, Cristian Ioan Vasile, Ali-Akbar Agha-Mohammadi, Richard M. Murray, Aaron D. Ames
2018	A*	`conf`	Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. ICRA Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames
2018	—	`conf`	Towards a framework for realizable safety critical control through active set invariance. ICCPS Thomas Gurriet, Andrew Singletary, Jacob Reher, Laurent Ciarletta, Eric Feron, Aaron D. Ames
2017	A	`conf`	A stability region criterion for flat-footed bipedal walking on deformable granular terrain. IROS Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
2017	J	`jnl`	Abstracting Partially Feedback Linearizable Systems Compositionally. IEEE Control. Syst. Lett. Omar Hussien, Aaron D. Ames, Paulo Tabuada
2017	—	`conf`	Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. HSCC Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, Aaron D. Ames
2017	C	`conf`	Closed-form controlled invariant sets for pedestrian avoidance. ACC Yasser Shoukry, Paulo Tabuada, Stephanie Tsuei, Mark B. Milam, Jessy W. Grizzle, Aaron D. Ames
2017	J	`jnl`	Control Barrier Function Based Quadratic Programs for Safety Critical Systems. IEEE Trans. Autom. Control. Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada
2017	J	`jnl`	Corrigendum: Multi-contact bipedal robotic locomotion. Robotica Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames
2017	—	`conf`	Data-driven control for feedback linearizable single-input systems. CDC Paulo Tabuada, Wen-Loong Ma, Jessy W. Grizzle, Aaron D. Ames
2017	A	`conf`	FROST∗: Fast robot optimization and simulation toolkit. IROS Ayonga Hereid, Aaron D. Ames
2017	J	`jnl`	First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
2017	J	`jnl`	First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. Auton. Robots Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames
2017	A*	`conf`	Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. ICRA Michael X. Grey, Aaron D. Ames, C. Karen Liu
2017	A*	`conf`	Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. ICRA Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela
2017	J	`jnl`	Multi-contact bipedal robotic locomotion. Robotica Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames
2017	A*	`conf`	Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. ICRA Huihua Zhao, Eric R. Ambrose, Aaron D. Ames
2017	—	`conf`	Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. Robotics: Science and Systems Michael X. Grey, Aaron D. Ames, C. Karen Liu
2017	J	`jnl`	Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. CoRR Michael X. Grey, Aaron D. Ames, C. Karen Liu
2017	—	`conf`	Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. CCTA Xiangru Xu, Thomas Waters, Daniel Pickem, Paul Glotfelter, Magnus Egerstedt, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
2017	C	`conf`	Robust control of a powered transfemoral prosthesis device with experimental verification. ACC Vahid Azimi, Tony Shu, Huihua Zhao, Eric R. Ambrose, Aaron D. Ames, Dan Simon
2017	J	`jnl`	Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness. CoRR Li Wang, Aaron D. Ames, Magnus Egerstedt
2017	A*	`conf`	Safe certificate-based maneuvers for teams of quadrotors using differential flatness. ICRA Li Wang, Aaron D. Ames, Magnus Egerstedt
2017	J	`jnl`	Safety Barrier Certificates for Collisions-Free Multirobot Systems. IEEE Trans. Robotics Li Wang, Aaron D. Ames, Magnus Egerstedt
2017	A*	`conf`	The Robotarium: A remotely accessible swarm robotics research testbed. ICRA Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt
2017	—	`conf`	Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. CCTA Eric R. Ambrose, Wen-Loong Ma, Christian Hubicki, Aaron D. Ames
2016	—	`conf`	3D dynamic walking on stepping stones with control barrier functions. CDC Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath
2016	A*	`conf`	3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. ICRA Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames
2016	—	`conf`	3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. CDC Huihua Zhao, Ayonga Hereid, Eric R. Ambrose, Aaron D. Ames
2016	C	`conf`	Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames
2016	J	`jnl`	Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems. CoRR Aaron D. Ames, Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada
2016	J	`jnl`	Correct-by-Construction Adaptive Cruise Control: Two Approaches. IEEE Trans. Control. Syst. Technol. Petter Nilsson, Omar Hussien, Ayca Balkan, Yuxiao Chen, Aaron D. Ames, Jessy W. Grizzle, Necmiye Ozay, Huei Peng, Paulo Tabuada
2016	J	`jnl`	Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. CoRR Xiangru Xu, Jessy W. Grizzle, Paulo Tabuada, Aaron D. Ames
2016	A	`conf`	Efficient HZD gait generation for three-dimensional underactuated humanoid running. IROS Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames
2016	—	`conf`	Establishing trust in remotely reprogrammable systems. HCI-Aero Thomas Gurriet, Mark L. Mote, Aaron D. Ames, Eric Feron
2016	J	`jnl`	Footstep and Motion Planning in Semi-unstructured Environments Using Possibility Graphs. CoRR Michael X. Grey, Aaron D. Ames, C. Karen Liu
2016	A	`conf`	Humanoid manipulation planning using backward-forward search. IROS Michael X. Grey, Caelan Reed Garrett, C. Karen Liu, Aaron D. Ames, Andrea Lockerd Thomaz
2016	A	`conf`	Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. IROS Matthew J. Powell, Aaron D. Ames
2016	—	`conf`	Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. Humanoids Matthew J. Powell, Wen-Loong Ma, Eric R. Ambrose, Aaron D. Ames
2016	J	`jnl`	Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile Robots. CoRR Li Wang, Aaron D. Ames, Magnus Egerstedt
2016	—	`conf`	Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots. CDC Li Wang, Aaron D. Ames, Magnus Egerstedt
2016	J	`jnl`	Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. IEEE Trans Autom. Sci. Eng. Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames
2016	—	`conf`	Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames
2016	A*	`conf`	Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. ICRA Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames
2016	J	`jnl`	Robustness of Control Barrier Functions for Safety Critical Control. CoRR Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
2016	J	`jnl`	Safe, Remote-Access Swarm Robotics Research on the Robotarium. CoRR Daniel Pickem, Li Wang, Paul Glotfelter, Yancy Diaz-Mercado, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt
2016	J	`jnl`	Safety Barrier Certificates for Heterogeneous Multi-Robot Systems. CoRR Li Wang, Aaron D. Ames, Magnus Egerstedt
2016	C	`conf`	Safety barrier certificates for heterogeneous multi-robot systems. ACC Li Wang, Aaron D. Ames, Magnus Egerstedt
2016	J	`jnl`	System Identification and Control through Efficient SVA Based Regressor Computation. CoRR Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet, Aaron D. Ames
2016	J	`jnl`	The Robotarium: A remotely accessible swarm robotics research testbed. CoRR Daniel Pickem, Paul Glotfelter, Li Wang, Mark Mote, Aaron D. Ames, Eric Feron, Magnus Egerstedt
2016	C	`conf`	Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames
2016	C	`conf`	Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. ACC Matthew J. Powell, Aaron D. Ames
2016	A	`conf`	Tractable terrain-aware motion planning on granular media: An impulsive jumping study. IROS Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames
2016	J	`jnl`	Traversing Environments Using Possibility Graphs for Humanoid Robots. CoRR Michael X. Grey, Aaron D. Ames, C. Karen Liu
2016	J	`jnl`	Traversing Environments Using Possibility Graphs with Multiple Action Types. CoRR Michael X. Grey, C. Karen Liu, Aaron D. Ames
2016	C	`conf`	Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. ACC Kenneth Y. Chao, Matthew J. Powell, Aaron D. Ames, Pilwon Hur
2016	A*	`conf`	Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. ICRA Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames
2015	—	`conf`	A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. CDC Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames
2015	—	`conf`	Acumen: An Open-Source Testbed for Cyber-Physical Systems Research. IoT 360 (1) 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
2015	C	`conf`	Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. ACC Aakar Mehra, Wen-Loong Ma, Forrest Berg, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
2015	—	`conf`	Continuity and smoothness properties of nonlinear optimization-based feedback controllers. CDC Benjamin J. Morris, Matthew J. Powell, Aaron D. Ames
2015	—	`conf`	Control Barrier Certificates for Safe Swarm Behavior. ADHS Urs Borrmann, Li Wang, Aaron D. Ames, Magnus Egerstedt
2015	C	`conf`	Control barrier function based quadratic programs with application to bipedal robotic walking. ACC Shao-Chen Hsu, Xiangru Xu, Aaron D. Ames
2015	—	`conf`	Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. HSCC Huihua Zhao, Jake Reher, Jonathan Horn, Victor Paredes, Aaron D. Ames
2015	C	`conf`	Energy shaping of hybrid systems via control Lyapunov functions. ACC Ryan W. Sinnet, Aaron D. Ames
2015	—	`conf`	First steps toward formal controller synthesis for bipedal robots. HSCC Aaron D. Ames, Paulo Tabuada, Bastian Schürmann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger, Jessy W. Grizzle
2015	A*	`conf`	Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames
2015	A*	`conf`	Model predictive control of underactuated bipedal robotic walking. ICRA Matthew J. Powell, Eric A. Cousineau, Aaron D. Ames
2015	—	`conf`	Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits. ADHS Shishir Kolathaya, Aaron D. Ames
2015	—	`conf`	Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis. ICCPS Huihua Zhao, Jake Reher, Jonathan Horn, Victor Paredes, Aaron D. Ames
2015	A*	`conf`	Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. ICRA Eric A. Cousineau, Aaron D. Ames
2015	—	`conf`	Robustness of Control Barrier Functions for Safety Critical Control. ADHS Xiangru Xu, Paulo Tabuada, Jessy W. Grizzle, Aaron D. Ames
2015	J	`jnl`	The Ach Library: A New Framework for Real-Time Communication. IEEE Robotics Autom. Mag. Neil T. Dantam, Daniel M. Lofaro, Ayonga Hereid, Paul Y. Oh, Aaron D. Ames, Mike Stilman
2015	J	`jnl`	Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. IEEE Access Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle
2015	J	`jnl`	Valkyrie: NASA's First Bipedal Humanoid Robot. J. Field Robotics 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
2014	C	`conf`	Composing Dynamical Systems to Realize Dynamic Robotic Dancing. WAFR Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames
2014	—	`conf`	Control barrier function based quadratic programs with application to adaptive cruise control. CDC Aaron D. Ames, Jessy W. Grizzle, Paulo Tabuada
2014	—	`conf`	Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
2014	—	`conf`	Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. CDC Ayonga Hereid, Matthew J. Powell, Aaron D. Ames
2014	C	`conf`	Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. ACC Shishir Kolathaya, Aaron D. Ames
2014	—	`conf`	Hierarchical control of series elastic actuators through control Lyapunov functions. CDC Matthew J. Powell, Aaron D. Ames
2014	J	`jnl`	Human-Inspired Control of Bipedal Walking Robots. IEEE Trans. Autom. Control. Aaron D. Ames
2014	—	`conf`	Human-inspired multi-contact locomotion with AMBER2. ICCPS Huihua Zhao, Wen-Loong Ma, Aaron D. Ames, Michael B. Zeagler
2014	A*	`conf`	Human-inspired walking via unified PD and impedance control. ICRA Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, Aaron D. Ames
2014	J	`jnl`	Models, feedback control, and open problems of 3D bipedal robotic walking. Autom. Jessy W. Grizzle, Christine Chevallereau, Ryan W. Sinnet, Aaron D. Ames
2014	A*	`conf`	Planar multi-contact bipedal walking using hybrid zero dynamics. ICRA Jordan Lack, Matthew J. Powell, Aaron D. Ames
2014	—	`conf`	Preliminary results on correct-by-construction control software synthesis for adaptive cruise control. CDC Petter Nilsson, Omar Hussien, Yuxiao Chen, Ayca Balkan, Matthias Rungger, Aaron D. Ames, Jessy W. Grizzle, Necmiye Ozay, Huei Peng, Paulo Tabuada
2014	C	`conf`	Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. ACC Huihua Zhao, Aaron D. Ames
2014	—	`conf`	Quadratic program based nonlinear embedded control of series elastic actuators. CDC Aaron D. Ames, James Holley
2014	A*	`conf`	Quadratic programming and impedance control for transfemoral prosthesis. ICRA Huihua Zhao, Shishir Kolathaya, Aaron D. Ames
2014	J	`jnl`	Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. IEEE Trans. Autom. Control. Aaron D. Ames, Kevin S. Galloway, Koushil Sreenath, Jessy W. Grizzle
2013	—	`conf`	A stabilization result with application to bipedal locomotion. CDC Andrew R. Teel, Rafal Goebel, Benjamin Morris, Aaron D. Ames, Jessy W. Grizzle
2013	—	`conf`	Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. Robotics: Science and Systems Neil Dantam, Ayonga Hereid, Aaron D. Ames, Mike Stilman
2013	—	`conf`	Enclosing the behavior of a hybrid system up to and beyond a Zeno point. CPSNA Michal Konecný, Walid Taha, Jan Duracz, Adam Duracz, Aaron D. Ames
2013	—	`conf`	Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs. HSCC Aaron D. Ames
2013	A	`conf`	Learning impedance controller parameters for lower-limb prostheses. IROS Navid Aghasadeghi, Huihua Zhao, Levi J. Hargrove, Aaron D. Ames, Eric J. Perreault, Timothy Bretl
2013	J	`jnl`	Lyapunov Theory for Zeno Stability. IEEE Trans. Autom. Control. Andrew G. Lamperski, Aaron D. Ames
2013	A*	`conf`	Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. ICRA Matthew J. Powell, Ayonga Hereid, Aaron D. Ames
2013	—	`conf`	Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots. CDC Benjamin Morris, Matthew J. Powell, Aaron D. Ames
2013	J	`jnl`	Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs CoRR Kevin S. Galloway, Koushil Sreenath, Aaron D. Ames, Jessy W. Grizzle
2013	—	`conf`	Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. CPSW@CISS Aaron D. Ames, Matthew J. Powell
2012	—	`conf`	A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report). ICDCS Workshops Walid Taha, Paul Brauner, Yingfu Zeng, Robert Cartwright, Verónica Gaspes, Aaron D. Ames, Alexandre Chapoutot
2012	—	`conf`	Achieving bipedal locomotion on rough terrain through human-inspired control. SSRR Shishir Kolathaya, Aaron D. Ames
2012	J	`jnl`	Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots. J. Robotics Mechatronics Ryan W. Sinnet, Aaron D. Ames
2012	A	`conf`	Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. IROS Huihua Zhao, Shishir Nadubettu Yadukumar, Aaron D. Ames
2012	—	`conf`	Control lyapunov functions and hybrid zero dynamics. CDC Aaron D. Ames, Kevin S. Galloway, J. W. Grizzle
2012	—	`conf`	Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics. HSCC Aaron D. Ames, Eric A. Cousineau, Matthew J. Powell
2012	C	`conf`	Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction. ACC Ryan W. Sinnet, Aaron D. Ames
2012	A*	`conf`	First steps toward underactuated human-inspired bipedal robotic walking. ICRA Aaron D. Ames
2012	C	`conf`	From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. WAFR Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames
2012	A	`conf`	Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. IROS Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames
2012	A*	`conf`	Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. ICRA Matthew J. Powell, Huihua Zhao, Aaron D. Ames
2012	C	`conf`	Outputs of human walking for bipedal robotic controller design. ACC Shu Jiang, Shawanee Partrick, Huihua Zhao, Aaron D. Ames
2012	C	`conf`	Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. ACC Shishir Nadubettu Yadukumar, Bhargav Kothapalli, Aaron D. Ames
2011	J	`jnl`	A core language for executable models of cyber physical systems: work in progress report. SIGBED Rev. Walid Taha, Paul Brauner, Robert Cartwright, Verónica Gaspes, Aaron D. Ames, Alexandre Chapoutot
2011	—	`conf`	Characterizing knee-bounce in bipedal robotic walking: a zeno behavior approach. HSCC Aaron D. Ames
2011	—	`conf`	Compass gait revisited: A human data perspective with extensions to three dimensions. CDC/ECC Ryan W. Sinnet, Matthew J. Powell, Shu Jiang, Aaron D. Ames
2011	—	`conf`	Human-data based cost of bipedal robotic walking. HSCC Aaron D. Ames, Ramanarayan Vasudevan, Ruzena Bajcsy
2011	—	`conf`	Rank deficiency and superstability of hybrid systems with application to bipedal robots. CDC/ECC Eric D. B. Wendel, Aaron D. Ames
2011	A	`conf`	Simulating Prosthetic Devices with Human-Inspired Hybrid Control. IROS Ryan W. Sinnet, Huihua Zhao, Aaron D. Ames
2011	J	`jnl`	Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems. IEEE Trans. Autom. Control. Yizhar Or, Aaron D. Ames
2010	—	`conf`	Mathematical equations as executable models of mechanical systems. ICCPS 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
2010	—	`conf`	Rank properties of poincare maps for hybrid systems with applications to bipedal walking. HSCC Eric D. B. Wendel, Aaron D. Ames
2009	—	`conf`	2D bipedal walking with knees and feet: A hybrid control approach. CDC Ryan W. Sinnet, Aaron D. Ames
2009	—	`conf`	3D bipedal walking with knees and feet: A hybrid geometric approach. CDC Ryan W. Sinnet, Aaron D. Ames
2009	—	`conf`	Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems. HSCC Yizhar Or, Aaron D. Ames
2009	C	`conf`	Formal and practical completion of Lagrangian hybrid systems. ACC Yizhar Or, Aaron D. Ames
2009	—	`conf`	Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach. HSCC Aaron D. Ames, Ryan W. Sinnet, Eric D. B. Wendel
2008	J	`jnl`	Approximate reduction of dynamic systems. Syst. Control. Lett. Paulo Tabuada, Aaron D. Ames, A. Agung Julius, George J. Pappas
2008	C	`conf`	Complexity and fragility in stability for linear systems. ACC Aaron D. Ames, John C. Doyle
2008	—	`conf`	On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria. CDC Andrew G. Lamperski, Aaron D. Ames
2008	—	`conf`	Stability of Zeno equilibria in Lagrangian hybrid systems. CDC Yizhar Or, Aaron D. Ames
2008	—	`conf`	Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems. HSCC Andrew G. Lamperski, Aaron D. Ames
2007	—	`conf`	A geometric approach to three-dimensional hipped bipedal robotic walking. CDC Aaron D. Ames, Robert D. Gregg, Mark W. Spong
2007	—	`conf`	Composition of Dynamical Systems for Estimation of Human Body Dynamics. HSCC Sumitra Ganesh, Aaron D. Ames, Ruzena Bajcsy
2007	—	`conf`	Discrete mechanics and optimal control applied to the compass gait biped. CDC David Pekarek, Aaron D. Ames, Jerrold E. Marsden
2007	—	`conf`	Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems. CDC Andrew G. Lamperski, Aaron D. Ames
2007	C	`conf`	Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. ACC Aaron D. Ames, Robert D. Gregg
2007	—	`conf`	Sufficient conditions for the existence of zeno behavior in a class of nonlinear hybrid systems via constant approximations. CDC Aaron D. Ames, Alessandro Abate, Shankar Sastry
2006	C	`conf`	A priori detection of Zeno behavior in communication networks modeled as hybrid systems. ACC Alessandro Abate, Aaron D. Ames, Shankar Sastry
2006	—	`conf`	Approximate Reduction of Dynamical Systems. CDC Paulo Tabuada, Aaron D. Ames, Agung Julius, George J. Pappas
2006	—	`conf`	Beyond Zeno: Get on with It! HSCC Haiyang Zheng, Edward A. Lee, Aaron D. Ames
2006	C	`conf`	Error bounds based stochastic approximations and simulations of hybrid dynamical systems. ACC Alessandro Abate, Aaron D. Ames, Shankar Sastry
2006	—	`conf`	Hybrid Geometric Reduction of Hybrid Systems. CDC Aaron D. Ames, Shankar Sastry
2006	C	`conf`	Hybrid Routhian reduction of Lagrangian hybrid systems. ACC Aaron D. Ames, Shankar Sastry
2006	C	`conf`	Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry. ACC Aaron D. Ames, Shankar Sastry
2006	C	`conf`	Is there life after Zeno? Taking executions past the breaking (Zeno) point. ACC Aaron D. Ames, Haiyang Zheng, Robert D. Gregg, Shankar Sastry
2006	—	`conf`	On the Stability of Zeno Equilibria. HSCC Aaron D. Ames, Paulo Tabuada, Shankar Sastry
2005	—	`conf`	A Homology Theory for Hybrid Systems: Hybrid Homology. HSCC Aaron D. Ames, Shankar Sastry
2005	C	`conf`	Characterization of Zeno behavior in hybrid systems using homological methods. ACC Aaron D. Ames, Shankar Sastry
2005	—	`conf`	On the Partitioning of Syntax and Semantics For Hybrid Systems Tools. CDC/ECC Jonathan Sprinkle, Aaron D. Ames, Alessandro Pinto, Haiyang Zheng, S. Shankar Sastry
2005	J	`jnl`	Online safety calculations for glide-slope recapture. Innov. Syst. Softw. Eng. Jonathan Sprinkle, Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell, Shankar Sastry
2005	C	`conf`	Stochastic approximations of hybrid systems. ACC Alessandro Abate, Aaron D. Ames, S. Shankar Sastry
2005	—	`conf`	Sufficient Conditions for the Existence of Zeno Behavior. CDC/ECC Aaron D. Ames, Alessandro Abate, Shankar Sastry
2004	—	`conf`	Affine Hybrid Systems. HSCC Aaron D. Ames, Shankar Sastry