Noel Csomay-Shanklin

43 papers A* 7A 4C 3Journal 24Unranked 5
YearRankTypeTitle / Venue / Authors
2025 C conf
Bézier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures.
ACC
Noel Csomay-Shanklin, 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 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
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
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
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 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
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
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 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 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
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 A* conf
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization.
ICRA
Maegan Tucker, Noel Csomay-Shanklin, 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 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 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 — 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 — 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 — 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
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization.
CoRR
Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames
2021 J jnl
A Machine Learning Strategy for Locomotion Classification and Parameter Estimation Using Fusion of Wearable Sensors.
IEEE Trans. Biomed. Eng.
Jonathan Camargo, Will Flanagan, Noel Csomay-Shanklin, Bharat Kanwar, Aaron J. Young
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 — 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 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 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
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 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
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
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
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 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
2019 A conf
Design and Comparative Analysis of 1D Hopping Robots.
IROS
Eric R. Ambrose, Noel Csomay-Shanklin, Yizhar Or, Aaron D. Ames