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ORCIDAaron D. Ames
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- affiliation: California Institute of Technology, Pasadena, CA, USA
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2020 – today
- 2023
[j76]Andrew Singletary
, Mohamadreza Ahmadi, Aaron D. Ames:
Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions. IEEE Control. Syst. Lett. 7: 349-354 (2023)- [j75]Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz:
Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions. IEEE Control. Syst. Lett. 7: 1123-1128 (2023) - [i148]Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. CoRR abs/2301.09622 (2023) - [i147]Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames:
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. CoRR abs/2302.07469 (2023) - [i146]Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames:
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. CoRR abs/2302.13687 (2023) - [i145]Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control with Bounded Inputs via Reduced Order Models. CoRR abs/2303.03247 (2023) - [i144]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. CoRR abs/2303.06258 (2023) - [i143]Maegan Tucker, Aaron D. Ames:
An Input-to-State Stability Perspective on Robust Locomotion. CoRR abs/2303.10231 (2023) - [i142]Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Parameterized Barrier Functions to Guarantee Safety under Uncertainty. CoRR abs/2303.11385 (2023) - 2022
- [j74]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. 6: 139-144 (2022) - [j73]Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou:
Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. IEEE Control. Syst. Lett. 6: 608-613 (2022) - [j72]Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue, Paulo Tabuada, Aaron D. Ames:
Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. IEEE Control. Syst. Lett. 6: 680-685 (2022) - [j71]Ugo Rosolia, Aaron D. Ames:
Iterative Model Predictive Control for Piecewise Systems. IEEE Control. Syst. Lett. 6: 842-847 (2022) - [j70]Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames:
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. IEEE Control. Syst. Lett. 6: 878-883 (2022) - [j69]Anil Alan, Andrew J. Taylor, Chaozhe R. He, Gábor Orosz, Aaron D. Ames:
Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions. IEEE Control. Syst. Lett. 6: 908-913 (2022) - [j68]Randall T. Fawcett, Abhishek Pandala, Aaron D. Ames, Kaveh Akbari Hamed:
Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers. IEEE Control. Syst. Lett. 6: 1736-1741 (2022) - [j67]Prithvi Akella, Aaron D. Ames:
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. IEEE Control. Syst. Lett. 6: 2018-2023 (2022) - [j66]Devansh Agrawal, Hardik Parwana, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou:
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. IEEE Control. Syst. Lett. 6: 2138-2143 (2022) - [j65]Vinay R. Kamidi, Jeeseop Kim, Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots. IEEE Control. Syst. Lett. 6: 2509-2514 (2022) - [j64]Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames:
Model-Free Safety-Critical Control for Robotic Systems. IEEE Robotics Autom. Lett. 7(2): 944-951 (2022) - [j63]Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames:
Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions. IEEE Robotics Autom. Lett. 7(2): 2897-2904 (2022) - [j62]Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames:
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. IEEE Robotics Autom. Lett. 7(2): 4283-4290 (2022) - [j61]Rachel Gehlhar, Je-Han Yang, Aaron D. Ames:
Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing. IEEE Robotics Autom. Lett. 7(2): 5151-5158 (2022) - [j60]Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. IEEE Robotics Autom. Lett. 7(2): 5365-5372 (2022) - [j59]Abhishek Pandala, Randall T. Fawcett, Ugo Rosolia, Aaron D. Ames, Kaveh Akbari Hamed:
Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models. IEEE Robotics Autom. Lett. 7(3): 6622-6629 (2022) - [j58]Randall T. Fawcett, Kereshmeh Afsari, Aaron D. Ames, Kaveh Akbari Hamed:
Toward a Data-Driven Template Model for Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 7(3): 7636-7643 (2022) - [j57]Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames:
Safety-Critical Manipulation for Collision-Free Food Preparation. IEEE Robotics Autom. Lett. 7(4): 10954-10961 (2022) - [j56]Prithvi Akella, Aaron D. Ames:
A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems. IEEE Robotics Autom. Lett. 7(4): 11062-11069 (2022) - [j55]Federica Ferraguti, Chiara Talignani Landi, Andrew Singletary, Hsien-Chung Lin, Aaron D. Ames, Cristian Secchi, Marcello Bonfè:
Safety and Efficiency in Robotics: The Control Barrier Functions Approach. IEEE Robotics Autom. Mag. 29(3): 139-151 (2022) - [j54]Ugo Rosolia, Andrew Singletary, Aaron D. Ames:
Unified Multirate Control: From Low-Level Actuation to High-Level Planning. IEEE Trans. Autom. Control. 67(12): 6627-6640 (2022) - [j53]Xiaobin Xiong, Aaron D. Ames:
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. IEEE Trans. Robotics 38(4): 2405-2425 (2022) - [c220]Helen Durand, Aaron D. Ames:
A Control Barrier Function Perspective on Lyapunov-Based Economic Model Predictive Control. ACC 2022: 2823-2828 - [c219]Pio Ong, Gilbert Bahati, Aaron D. Ames:
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CDC 2022: 453-460 - [c218]Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia, Aaron D. Ames:
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. CDC 2022: 3732-3739 - [c217]Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CDC 2022: 5316-5322 - [c216]Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames:
Safe Backstepping with Control Barrier Functions. CDC 2022: 5775-5782 - [c215]Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. CDC 2022: 7127-7134 - [c214]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids 2022: 622-629 - [c213]Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue:
LyaNet: A Lyapunov Framework for Training Neural ODEs. ICML 2022: 18687-18703 - [c212]Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames:
Learning Controller Gains on Bipedal Walking Robots via User Preferences. ICRA 2022: 10405-10411 - [c211]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. ICRA 2022: 10435-10441 - [c210]Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman:
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. ICRA 2022: 11487-11493 - [c209]Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth:
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. IROS 2022: 1-8 - [c208]Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames:
Safe Drone Flight with Time-Varying Backup Controllers. IROS 2022: 4577-4584 - [c207]Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames:
Safety-Aware Preference-Based Learning for Safety-Critical Control. L4DC 2022: 1020-1033 - [c206]Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames:
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. L4DC 2022: 1060-1072 - [i141]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR abs/2201.01323 (2022) - [i140]Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames:
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions. CoRR abs/2201.04331 (2022) - [i139]Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames:
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CoRR abs/2201.10749 (2022) - [i138]Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue:
LyaNet: A Lyapunov Framework for Training Neural ODEs. CoRR abs/2202.02526 (2022) - [i137]Prithvi Akella, Aaron D. Ames:
A Barrier-Based Scenario Approach to Verify Safety-Critical Systems. CoRR abs/2202.11177 (2022) - [i136]Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman:
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. CoRR abs/2203.01404 (2022) - [i135]Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames:
A Scenario Approach to Risk-Aware Safety-Critical System Verification. CoRR abs/2203.02595 (2022) - [i134]Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames:
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR abs/2203.07429 (2022) - [i133]Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. CoRR abs/2203.11470 (2022) - [i132]Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames:
Safe Control for Nonlinear Systems with Stochastic Uncertainty via Risk Control Barrier Functions. CoRR abs/2203.15892 (2022) - [i131]Noel Csomay-Shanklin, Andrew J. Taylor, Ugo Rosolia, Aaron D. Ames:
Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. CoRR abs/2204.00152 (2022) - [i130]Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames:
Safe Backstepping with Control Barrier Functions. CoRR abs/2204.00653 (2022) - [i129]Pio Ong, Gilbert Bahati, Aaron D. Ames:
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CoRR abs/2204.03110 (2022) - [i128]Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames:
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. CoRR abs/2204.08120 (2022) - [i127]Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames:
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification. CoRR abs/2204.09833 (2022) - [i126]Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames:
Safety-Critical Manipulation for Collision-Free Food Preparation. CoRR abs/2205.01026 (2022) - [i125]Tamás G. Molnár, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gábor Orosz:
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control. CoRR abs/2205.14567 (2022) - [i124]Anil Alan, Andrew J. Taylor, Chaozhe R. He, Aaron D. Ames, Gábor Orosz:
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles. CoRR abs/2206.03568 (2022) - [i123]Adam K. Kiss, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Control Barrier Functionals: Safety-critical Control for Time Delay Systems. CoRR abs/2206.08409 (2022) - [i122]Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames:
Safe Drone Flight with Time-Varying Backup Controllers. CoRR abs/2207.05220 (2022) - [i121]Maegan Tucker, Kejun Li, Yisong Yue, Aaron D. Ames:
POLAR: Preference Optimization and Learning Algorithms for Robotics. CoRR abs/2208.04404 (2022) - [i120]Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth:
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. CoRR abs/2209.02995 (2022) - [i119]Wyatt Ubellacker, Aaron D. Ames:
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. CoRR abs/2209.07503 (2022) - [i118]Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz:
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions. CoRR abs/2209.08123 (2022) - [i117]Min Dai, Xiaobin Xiong, Aaron D. Ames:
Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. CoRR abs/2209.08458 (2022) - [i116]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Safety-Critical Controller Verification via Sim2Real Gap Quantification. CoRR abs/2209.09337 (2022) - [i115]Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames:
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. CoRR abs/2209.10452 (2022) - [i114]Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames:
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. CoRR abs/2209.11808 (2022) - [i113]Rachel Gehlhar, Aaron D. Ames:
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. CoRR abs/2209.13739 (2022) - [i112]Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. CoRR abs/2210.10304 (2022) - [i111]Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed:
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. CoRR abs/2211.06913 (2022) - [i110]Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. CoRR abs/2211.06917 (2022) - [i109]Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff:
Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic. CoRR abs/2212.06129 (2022) - [i108]Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames:
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. CoRR abs/2212.06253 (2022) - [i107]Ryan K. Cosner, Yisong Yue, Aaron D. Ames:
End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CoRR abs/2212.11365 (2022) - 2021
- [j52]Yuxiao Chen, Andrew Singletary, Aaron D. Ames:
Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach. IEEE Control. Syst. Lett. 5(1): 127-132 (2021) - [j51]Rohit Konda, Aaron D. Ames, Samuel Coogan:
Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems. IEEE Control. Syst. Lett. 5(2): 523-528 (2021) - [j50]Rachel Gehlhar, Aaron D. Ames:
Separable Control Lyapunov Functions With Application to Prostheses. IEEE Control. Syst. Lett. 5(2): 559-564 (2021) - [j49]Andrew J. Taylor, Pio Ong, Jorge Cortés, Aaron D. Ames:
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. IEEE Control. Syst. Lett. 5(3): 749-754 (2021) - [j48]Aaron D. Ames, Gennaro Notomista, Yorai Wardi, Magnus Egerstedt:
Integral Control Barrier Functions for Dynamically Defined Control Laws. IEEE Control. Syst. Lett. 5(3): 887-892 (2021) - [j47]Wen-Loong Ma, Noel Csomay-Shanklin, Aaron D. Ames:
Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion. IEEE Control. Syst. Lett. 5(3): 935-940 (2021) - [j46]Ugo Rosolia, Aaron D. Ames:
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. IEEE Control. Syst. Lett. 5(3): 1007-1012 (2021) - [j45]Andrew J. Taylor, Andrew Singletary, Yisong Yue, Aaron D. Ames:
A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. IEEE Control. Syst. Lett. 5(3): 1019-1024 (2021) - [j44]Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames:
Safety-Critical Control of Compartmental Epidemiological Models With Measurement Delays. IEEE Control. Syst. Lett. 5(5): 1537-1542 (2021) - [j43]Carl Folkestad, Yuxiao Chen, Aaron D. Ames, Joel W. Burdick:
Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators. IEEE Control. Syst. Lett. 5(6): 2012-2017 (2021) - [j42]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online Decentralized Decision Making With Inequality Constraints: An ADMM approach. IEEE Control. Syst. Lett. 5(6): 2156-2161 (2021) - [j41]Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin:
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 8: 723780 (2021) - [j40]Xiaobin Xiong, Aaron D. Ames:
SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. IEEE Robotics Autom. Lett. 6(2): 2122-2129 (2021) - [j39]Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames:
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 6(2): 3761-3768 (2021) - [j38]Yuxiao Chen, Ugo Rosolia, Aaron D. Ames:
Decentralized Task and Path Planning for Multi-Robot Systems. IEEE Robotics Autom. Lett. 6(3): 4337-4344 (2021) - [j37]Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames:
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. 6(4): 8442-8449 (2021) - [j36]Yuxiao Chen, James Anderson, Karanjit Kalsi, Aaron D. Ames, Steven H. Low:
Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts. IEEE Trans. Control. Netw. Syst. 8(1): 487-499 (2021) - [j35]Alexander H. Chang, Christian M. Hubicki, Jeff J. Aguilar, Daniel I. Goldman, Aaron D. Ames, Patricio A. Vela:
Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. IEEE Trans. Control. Syst. Technol. 29(4): 1581-1596 (2021) - [j34]Vahid Azimi, Tony Shu, Huihua Zhao, Rachel Gehlhar, Dan Simon, Aaron D. Ames:
Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. IEEE Trans. Syst. Man Cybern. Syst. 51(2): 1174-1191 (2021) - [c205]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Constrained Risk-Averse Markov Decision Processes. AAAI 2021: 11718-11725 - [c204]Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames:
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. ADHS 2021: 181-186 - [c203]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. ACC 2021: 14-19 - [c202]Carl Folkestad, Yuxiao Chen, Aaron D. Ames, Joel W. Burdick:
Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions with Koopman Operators. ACC 2021: 929-934 - [c201]Tamás G. Molnár, Andrew W. Singletary, Gábor Orosz, Aaron D. Ames:
Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays. ACC 2021: 1052-1057 - [c200]Adam K. Kiss, Tamás G. Molnár, Daniel Bachrathy, Aaron D. Ames, Gábor Orosz:
Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach. ACC 2021: 1058-1063 - [c199]Yuxiao Chen, Mario A. Santillo, Mrdjan Jankovic, Aaron D. Ames:
Online decentralized decision making with inequality constraints: An ADMM approach. ACC 2021: 2075-2081 - [c198]Mohamed Maghenem, Andrew J. Taylor, Aaron D. Ames, Ricardo G. Sanfelice:
Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. ACC 2021: 2418-2423 - [c197]Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames:
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CDC 2021: 697-704 - [c196]Rachel Gehlhar, Aaron D. Ames:
Estimate-to-State Stability for Hybrid Human-Prosthesis Systems. CDC 2021: 705-712 - [c195]Ugo Rosolia, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. CDC 2021: 4287-4294