Ames, Aaron
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- Daş, Ersin and Ames, Aaron D., et el. (2024) Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety; IEEE Control Systems Letters; 10.1109/lcsys.2024.3416239
- Cohen, Max H. and Cosner, Ryan K., et el. (2024) Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems; IEEE Control Systems Letters; 10.1109/lcsys.2024.3412003
- Incer, Inigo and Csomay-Shanklin, Noel, et el. (2024) Layered Control Systems Operating on Multiple Clocks; IEEE Control Systems Letters; 10.1109/lcsys.2024.3410150
- Cosner, Ryan K. and Culbertson, Preston, et el. (2024) Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions; IEEE Control Systems Letters; 10.1109/lcsys.2024.3409105
- Matni, Nikolai and Ames, Aaron D., et el. (2024) A Quantitative Framework for Layered Multirate Control: Toward a Theory of Control Architecture; IEEE Control Systems; Vol. 44; No. 3; 52-94; 10.1109/mcs.2024.3382388
- Pandala, Abhishek and Ames, Aaron D., et el. (2024) 𝓗₂- and 𝓗∞-Optimal Model Predictive Controllers for Robust Legged Locomotion; IEEE Open Journal of Control Systems; Vol. 3; 225-238; 10.1109/ojcsys.2024.3407999
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- Molnar, Tamas G. and Ames, Aaron D. (2023) Composing Control Barrier Functions for Complex Safety Specifications; IEEE Control Systems Letters; Vol. 7; 3615-3620; 10.1109/lcsys.2023.3339719
- Alan, Anil and Taylor, Andrew J., et el. (2023) Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles; IEEE Transactions on Control Systems Technology; 10.1109/tcst.2023.3286090
- Kiss, Adam K. and Molnár, Tamás G., et el. (2023) Control barrier functionals: Safety‐critical control for time delay systems; International Journal of Robust and Nonlinear Control; 10.1002/rnc.6751
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- Molnár, Tamás G. and Kiss, Adam K., et el. (2023) Safety-Critical Control With Input Delay in Dynamic Environment; IEEE Transactions on Control Systems Technology; 10.1109/tcst.2022.3227451
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- Akella, Prithvi and Ames, Aaron D. (2022) A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems; IEEE Robotics and Automation Letters; 10.1109/lra.2022.3192805
- Azimi, Vahid and Farzan, Siavash, et el. (2022) Active space control of underactuated robots: From adaptation to robustness to optimality; International Journal of Adaptive Control and Signal Processing; 10.1002/acs.3470
- Rosolia, Ugo and Singletary, Andrew, et el. (2022) Unified Multi-Rate Control: From Low-Level Actuation to High-Level Planning; IEEE Transactions on Automatic Control; 10.1109/tac.2022.3184664
- Singletary, Andrew and Guffey, William, et el. (2022) Safety-Critical Manipulation for Collision-Free Food Preparation; IEEE Robotics and Automation Letters; Vol. 7; No. 4; 10954-10961; 10.1109/LRA.2022.3192634
- Pandala, Abhishek and Fawcett, Randall T., et el. (2022) Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models; IEEE Robotics and Automation Letters; Vol. 7; No. 3; 6622-6629; 10.1109/lra.2022.3176105
- Fawcett, Randall T. and Afsari, Kereshmeh, et el. (2022) Toward a Data-Driven Template Model for Quadrupedal Locomotion; IEEE Robotics and Automation Letters; Vol. 7; No. 3; 7636-7643; 10.1109/lra.2022.3184007
- Singletary, Andrew and Ahmadi, Mohamadreza, et el. (2022) Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions; IEEE Control Systems Letters; Vol. 7; 349-354; 10.1109/lcsys.2022.3187458
- Ferraguti, Federica and Talignani Landi, Chiara, et el. (2022) Safety and Efficiency in Robotics: The Control Barrier Functions Approach; IEEE Robotics and Automation Magazine; 10.1109/mra.2022.3174699
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- Chen, Yuxiao and Rosolia, Ugo, et el. (2022) Interactive Multi-Modal Motion Planning With Branch Model Predictive Control; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 5365-5372; 10.1109/lra.2022.3156648
- Li, Kejun and Tucker, Maegan, et el. (2022) Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 4283-4290; 10.1109/lra.2022.3149568
- Singletary, Andrew and Swann, Aiden, et el. (2022) Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 2897-2904; 10.1109/LRA.2022.3144777
- Gehlhar, Rachel and Yang, Je-han, et el. (2022) Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 5151-5158; 10.1109/lra.2022.3154810
- Xiong, Xiaobin and Ames, Aaron (2022) 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization; IEEE Transactions on Robotics; 10.1109/tro.2022.3150219
- Jimenez Rodriguez, Ivan Dario and Ames, Aaron D., et el. (2022) LyaNet: A Lyapunov Framework for Training Neural ODEs; Proceedings of Machine Learning Research; 18687-18703; 10.48550/arXiv.arXiv.2202.02526
- Garg, Kunal and Cosner, Ryan K., et el. (2022) Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions; IEEE Control Systems Letters; Vol. 6; 608-613; 10.1109/LCSYS.2021.3084322
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- Rosolia, Ugo and Ames, Aaron D. (2022) Iterative Model Predictive Control for Piecewise Systems; IEEE Control Systems Letters; Vol. 6; 842-847; 10.1109/LCSYS.2021.3086561
- Taylor, Andrew J. and Dorobantu, Victor D., et el. (2022) Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs; IEEE Control Systems Letters; Vol. 6; 680-685; 10.1109/LCSYS.2021.3085172
- Singletary, Andrew and Kolathaya, Shishir, et el. (2022) Safety-Critical Kinematic Control of Robotic Systems; IEEE Control Systems Letters; Vol. 6; 139-144; 10.1109/LCSYS.2021.3050609
- Fawcett, Randall T. and Pandala, Abhishek, et el. (2021) Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers; IEEE Control Systems Letters; Vol. 6; 1736-1741; 10.1109/lcsys.2021.3133198
- Folkestad, Carl and Chen, Yuxiao, et el. (2021) Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators; IEEE Control Systems Letters; Vol. 5; No. 6; 2012-2017; 10.1109/lcsys.2020.3046159
- Chen, Yuxiao and Santillo, Mario, et el. (2021) Online Decentralized Decision Making With Inequality Constraints: An ADMM approach; IEEE Control Systems Letters; Vol. 5; No. 6; 2156-2161; 10.1109/lcsys.2020.3044873
- Molnár, Tamás G. and Singletary, Andrew W., et el. (2021) Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays; IEEE Control Systems Letters; Vol. 5; No. 5; 1537-1542; PMCID PMC8545040; 10.1109/LCSYS.2020.3040948
- Sun, Yu and Ubellacker, Wyatt L., et el. (2021) Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion; IEEE Robotics and Automation Letters; Vol. 6; No. 4; 8442-8449; 10.1109/lra.2021.3108510
- Westenbroek, Tyler and Xiong, Xiaobin, et el. (2021) Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking; IFAC-PapersOnLine; Vol. 54; No. 5; 181-186; 10.1016/j.ifacol.2021.08.495
- Kerdraon, Jacques and Previnaire, Jean Gabriel, et el. (2021) Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury; Spinal Cord Series and Cases: Clinical Management in Spinal Cord Disorders; Vol. 7; Art. No. 71; 10.1038/s41394-021-00432-3
- Ames, Aaron D. and Notomista, Gennaro, et el. (2021) Integral Control Barrier Functions for Dynamically Defined Control Laws; IEEE Control Systems Letters; Vol. 5; No. 3; 887-892; 10.1109/lcsys.2020.3006764
- Taylor, Andrew J. and Singletary, Andrew, et el. (2021) A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety; IEEE Control Systems Letters; Vol. 5; No. 3; 1019-1024; 10.1109/LCSYS.2020.3009082
- Chang, Alexander H. and Hubicki, Christian M., et el. (2021) Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping; IEEE Transactions on Control Systems Technology; Vol. 29; No. 4; 1581-1596; 10.1109/tcst.2020.3009636
- Rosolia, Ugo and Ames, Aaron D. (2021) Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies; IEEE Control Systems Letters; Vol. 5; No. 3; 1007-1012; 10.1109/LCSYS.2020.3008326
- Ma, Wen-Loong and Csomay-Shanklin, Noel, et el. (2021) Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion; IEEE Control Systems Letters; Vol. 5; No. 3; 935-940; 10.1109/LCSYS.2020.3006963
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- Chen, Yuxiao and Rosolia, Ugo, et el. (2021) Decentralized Task and Path Planning for Multi-Robot Systems; IEEE Robotics and Automation Letters; Vol. 6; No. 3; 4337-4344; 10.1109/LRA.2021.3068103
- Csomay-Shanklin, Noel and Cosner, Ryan K., et el. (2021) Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety; Proceedings of Machine Learning Research; Vol. 144; 1041-1053; 10.48550/arXiv.2105.01697
- Ma, Wen-Loong and Csomay-Shanklin, Noel, et el. (2021) Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion; IEEE Robotics and Automation Letters; Vol. 6; No. 2; 3761-3768; 10.1109/LRA.2021.3065174
- Gehlhar, Rachel and Ames, Aaron D. (2021) Separable Control Lyapunov Functions with Application to Prostheses; IEEE Control Systems Letters; Vol. 5; No. 2; 559-564; 10.1109/lcsys.2020.3004181
- Konda, Rohit and Ames, Aaron D., et el. (2021) Characterizing Safety: Minimal Control Barrier Functions from Scalar Comparison Systems; IEEE Control Systems Letters; Vol. 5; No. 2; 523-528; 10.1109/lcsys.2020.3003887
- Xiong, Xiaobin and Ames, Aaron (2021) SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program; IEEE Robotics and Automation Letters; Vol. 6; No. 2; 2122-2129; 10.1109/LRA.2021.3061385
- Chen, Yuxiao and Anderson, James, et el. (2021) Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts; IEEE Transactions on Control of Network Systems; Vol. 8; No. 1; 487-499; 10.1109/TCNS.2020.3029183
- Azimi, Vahid and Shu, Tony, et el. (2021) Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments; IEEE Transactions on Systems, Man, and Cybernetics: Systems; Vol. 51; No. 2; 1174-1191; 10.1109/TSMC.2019.2896193
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- Akbari Hamed, Kaveh and Ames, Aaron D. (2020) Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking; IEEE Transactions on Control Systems Technology; Vol. 28; No. 6; 2689-2696; 10.1109/tcst.2019.2947874
- Ames, Aaron D. and Molnár, Tamás G., et el. (2020) Safety-Critical Control of Active Interventions for COVID-19 Mitigation; IEEE Access; Vol. 8; 188454-188474; PMCID PMC8545284; 10.1109/ACCESS.2020.3029558
- Ibuki, Tatsuya and Wilson, Sean, et el. (2020) Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach; IEEE Control Systems Letters; Vol. 4; No. 4; 976-981; 10.1109/lcsys.2020.2997952
- Xiong, Xiaobin and Ames, Aaron D. (2020) Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping; IEEE Robotics and Automation Letters; Vol. 5; No. 4; 6286-6293; 10.1109/lra.2020.3013924
- Gurriet, Thomas and Mote, Mark, et el. (2020) A Scalable Safety Critical Control Framework for Nonlinear Systems; IEEE Access; Vol. 8; 187249-187275; 10.1109/access.2020.3025248
- Taylor, Andrew J. and Singletary, Andrew, et el. (2020) Learning for Safety-Critical Control with Control Barrier Functions; Proceedings of Machine Learning Research; Vol. 120; 708-717; 10.48550/arXiv.1912.10099
- Yu, You and Nassar, Joanna, et el. (2020) Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces; Science Robotics; Vol. 5; No. 41; Art. No. eaaz7946; PMCID PMC7326328; 10.1126/scirobotics.aaz7946
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- Akbari Hamed, Kaveh and Kamidi, Vinay R., et el. (2020) Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach; IEEE Robotics and Automation Letters; Vol. 5; No. 1; 56-63; 10.1109/LRA.2019.2939719
- Kolathaya, Shishir and Ames, Aaron D. (2019) Input-to-State Safety with Control Barrier Functions; IEEE Control Systems Letters; Vol. 3; No. 1; 108-113; 10.1109/LCSYS.2018.2853698
- Harib, Omar and Hereid, Ayonga, et el. (2018) Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking; IEEE Control Systems Magazine; Vol. 38; No. 6; 61-87; 10.1109/mcs.2018.2866604
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