Ryan M. Bena

30 papers A* 2Journal 21Unranked 7
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Class of Axis-Angle Attitude Control Laws for Rotational Systems.
IEEE Control. Syst. Lett.
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia
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
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
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
2025 J jnl
A Class of Axis-Angle Attitude Control Laws for Rotational Systems.
CoRR
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia
2025 — conf
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments.
ICAR
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia
2025 J jnl
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments.
CoRR
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia
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 J jnl
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation.
CoRR
Gilbert Bahati, Ryan M. Bena, 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 J jnl
Matrix Control Barrier Functions.
CoRR
Pio Ong, Yicheng Xu, Ryan M. Bena, Faryar Jabbari, 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
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
2024 — conf
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight.
ROBOT
Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia
2024 J jnl
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight.
CoRR
Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia
2024 — conf
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight.
ROBIO
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia
2024 J jnl
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight.
CoRR
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia
2024 A* conf
MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight.
ICRA
Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia
2024 J jnl
MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight.
CoRR
Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia
2024 J jnl
Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments.
CoRR
Ryan M. Bena, Chongbo Zhao, Quan Nguyen
2023 A* conf
A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control.
ICRA
Ryan M. Bena, Sushmit Hossain, Buyun Chen, Wei Wu, Quan Nguyen
2023 — conf
A Memristor-Based Analog Accelerator for Solving Quadratic Programming Problems.
CICC
Hsiang-Chun Cheng, Shiyu Su, Mayank Palaria, Qiaochu Zhang, Ce Yang, Sushmit Hossain, Ryan M. Bena, Buyun Chen, Zerui Liu, Juzheng Liu, Rezwan A. Rasul, Quan Nguyen, Wei Wu, Mike Shuo-Wei Chen
2023 — conf
Analog Kalman Filter with Integration and Digitization via a Shared Thyristor-Based VCO for Sensor Fusion in 65 nm CMOS.
ESSCIRC
Mayank Palaria, Shiyu Su, Hsiang-Chun Cheng, Rezwan A. Rasul, Qiaochu Zhang, Soumya Mahapatra, Chong-Fatt Law, Sushmit Hossain, Ryan M. Bena, Wei Wu, Quan Nguyen, Mike Shuo-Wei Chen
2023 J jnl
High-Performance Six-DOF Flight Control of the Bee$^{++}$: An Inclined-Stroke-Plane Approach.
IEEE Trans. Robotics
Ryan M. Bena, Xiufeng Yang, Ariel A. Calderón, Néstor Osvaldo Pérez-Arancibia
2023 J jnl
Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments.
IEEE Robotics Autom. Lett.
Ryan M. Bena, Chongbo Zhao, Quan Nguyen
2022 J jnl
A Multiplatform Position Control Scheme for Flying Robotic Insects.
J. Intell. Robotic Syst.
Ryan M. Bena, Xuan-Truc Nguyen, Xiufeng Yang, Ariel A. Calderón, Ying Chen, Néstor Osvaldo Pérez-Arancibia
2021 J jnl
SMARTI: A 60-mg Steerable Robot Driven by High-Frequency Shape-Memory Alloy Actuation.
IEEE Robotics Autom. Lett.
Ryan M. Bena, Xuan-Truc Nguyen, Ariel A. Calderón, Alberto Rigo, Néstor Osvaldo Pérez-Arancibia