Wyatt Ubellacker

30 papers A* 7A 3C 1Journal 16Unranked 3
YearRankTypeTitle / Venue / Authors
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
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
Learned Regions of Attraction for Safe Motion Primitive Transitions.
IROS
Wyatt Ubellacker, 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
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 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 Locomotion on Legged Robots through Planning on Motion Primitive Graphs.
ICRA
Wyatt Ubellacker, Aaron D. Ames
2023 A* conf
Safety-Critical Controller Verification via Sim2Real Gap Quantification.
ICRA
Prithvi Akella, Wyatt Ubellacker, 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
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
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
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs.
CoRR
Wyatt Ubellacker, 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 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 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
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
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-Free Safety-Critical Control for Robotic Systems.
CoRR
Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, 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 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 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
2015 — conf
A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system.
Humanoids
João Ramos, Albert Wang, Wyatt Ubellacker, John Mayo, Sangbae Kim
2015 — conf
The HERMES humanoid system: A platform for full-body teleoperation with balance feedback.
Humanoids
Albert Wang, João Ramos, John Mayo, Wyatt Ubellacker, Justin Cheung, Sangbae Kim
2013 A* conf
A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure.
ICRA
Anirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada