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ORCIDRyan M. Bena
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2020 – today
- 2025
[c7]Ryan M. Bena, Gilbert Bahati, Blake Werner, Ryan K. Cosner, Lizhi Yang, Aaron D. Ames:
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC. Humanoids 2025: 1-8- [i11]Gilbert Bahati, Ryan K. Cosner, Max H. Cohen, Ryan M. Bena, Aaron D. Ames:
Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree. CoRR abs/2504.00397 (2025) - [i10]Gilbert Bahati, Ryan M. Bena, Aaron D. Ames:
Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation. CoRR abs/2505.06794 (2025) - [i9]Ryan M. Bena, Gilbert Bahati, Blake Werner, Ryan K. Cosner, Lizhi Yang, Aaron D. Ames:
Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC. CoRR abs/2508.11129 (2025) - [i8]Pio Ong, Yicheng Xu, Ryan M. Bena, Faryar Jabbari, Aaron D. Ames:
Matrix Control Barrier Functions. CoRR abs/2508.11795 (2025) - [i7]Ersin Das, Rahal Nanayakkara, Xiao Tan, Ryan M. Bena, Joel W. Burdick, Paulo Tabuada, Aaron D. Ames:
Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions. CoRR abs/2508.19159 (2025) - [i6]Gilbert Bahati, Ryan M. Bena, Meg Wilkinson, Pol Mestres, Ryan K. Cosner, Aaron D. Ames:
Risk-Aware Safety Filters with Poisson Safety Functions and Laplace Guidance Fields. CoRR abs/2510.25913 (2025) - [i5]Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia:
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments. CoRR abs/2510.25985 (2025) - 2024
- [c6]Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia:
MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight. ICRA 2024: 8363-8369 - [c5]Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia:
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight. ROBIO 2024: 1941-1947 - [c4]Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia:
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight. ROBOT 2024: 1-8 - [i4]Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia:
MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight. CoRR abs/2403.07269 (2024) - [i3]Ryan M. Bena, Chongbo Zhao, Quan Nguyen:
Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments. CoRR abs/2403.13929 (2024) - [i2]Francisco M. F. R. Gonçalves, Ryan M. Bena, Konstantin I. Matveev, Néstor Osvaldo Pérez-Arancibia:
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight. CoRR abs/2410.12054 (2024) - [i1]Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor Osvaldo Pérez-Arancibia:
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight. CoRR abs/2411.00417 (2024) - 2023
- [j4]Ryan M. Bena
, Chongbo Zhao, Quan Nguyen:
Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments. IEEE Robotics Autom. Lett. 8(12): 7962-7969 (2023) - [j3]Ryan M. Bena, Xiufeng Yang, Ariel A. Calderón, Néstor Osvaldo Pérez-Arancibia:
High-Performance Six-DOF Flight Control of the Bee$^{++}$: An Inclined-Stroke-Plane Approach. IEEE Trans. Robotics 39(2): 1668-1684 (2023) - [c3]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:
A Memristor-Based Analog Accelerator for Solving Quadratic Programming Problems. CICC 2023: 1-2 - [c2]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:
Analog Kalman Filter with Integration and Digitization via a Shared Thyristor-Based VCO for Sensor Fusion in 65 nm CMOS. ESSCIRC 2023: 213-216 - [c1]Ryan M. Bena, Sushmit Hossain, Buyun Chen, Wei Wu, Quan Nguyen:
A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control. ICRA 2023: 3418-3424 - 2022
- [j2]Ryan M. Bena, Xuan-Truc Nguyen, Xiufeng Yang, Ariel A. Calderón, Ying Chen, Néstor Osvaldo Pérez-Arancibia:
A Multiplatform Position Control Scheme for Flying Robotic Insects. J. Intell. Robotic Syst. 105(1): 19 (2022) - 2021
- [j1]Ryan M. Bena, Xuan-Truc Nguyen, Ariel A. Calderón, Alberto Rigo, Néstor Osvaldo Pérez-Arancibia:
SMARTI: A 60-mg Steerable Robot Driven by High-Frequency Shape-Memory Alloy Actuation. IEEE Robotics Autom. Lett. 6(4): 8173-8180 (2021)
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