<h1>Ames, Aaron</h1>
<h2>Article from <a href="https://authors.library.caltech.edu">CaltechAUTHORS</a></h2>
<ul>
<li>Akella, Prithvi and Ahmadi, Mohamadreza, el al. (2025) <a href="https://authors.library.caltech.edu/records/5ns21-pn241">Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications</a>; IEEE Transactions on Automatic Control; Vol. 70; No. 4; 2180 - 2195</li>
<li>Akella, Prithvi and Dixit, Anushri, el al. (2024) <a href="https://authors.library.caltech.edu/records/05xk1-y3743">Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification</a>; Artificial Intelligence; Vol. 336; 104195; <a href="https://doi.org/10.1016/j.artint.2024.104195">10.1016/j.artint.2024.104195</a></li>
<li>Daş, Ersin and Ames, Aaron D., el al. (2024) <a href="https://authors.library.caltech.edu/records/hyxwt-aws06">Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety</a>; IEEE Control Systems Letters; <a href="https://doi.org/10.1109/lcsys.2024.3416239">10.1109/lcsys.2024.3416239</a></li>
<li>Cohen, Max H. and Cosner, Ryan K., el al. (2024) <a href="https://authors.library.caltech.edu/records/we0mm-pkm49">Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems</a>; IEEE Control Systems Letters; <a href="https://doi.org/10.1109/lcsys.2024.3412003">10.1109/lcsys.2024.3412003</a></li>
<li>Incer, Inigo and Csomay-Shanklin, Noel, el al. (2024) <a href="https://authors.library.caltech.edu/records/y9t9z-32k63">Layered Control Systems Operating on Multiple Clocks</a>; IEEE Control Systems Letters; <a href="https://doi.org/10.1109/lcsys.2024.3410150">10.1109/lcsys.2024.3410150</a></li>
<li>Cosner, Ryan K. and Culbertson, Preston, el al. (2024) <a href="https://authors.library.caltech.edu/records/afsfp-h4k17">Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions</a>; IEEE Control Systems Letters; <a href="https://doi.org/10.1109/lcsys.2024.3409105">10.1109/lcsys.2024.3409105</a></li>
<li>Matni, Nikolai and Ames, Aaron D., el al. (2024) <a href="https://authors.library.caltech.edu/records/zqcea-e1623">A Quantitative Framework for Layered Multirate Control: Toward a Theory of Control Architecture</a>; IEEE Control Systems; Vol. 44; No. 3; 52-94; <a href="https://doi.org/10.1109/mcs.2024.3382388">10.1109/mcs.2024.3382388</a></li>
<li>Pandala, Abhishek and Ames, Aaron D., el al. (2024) <a href="https://authors.library.caltech.edu/records/881ea-0qj27">𝓗₂- and 𝓗∞-Optimal Model Predictive Controllers for Robust Legged Locomotion</a>; IEEE Open Journal of Control Systems; Vol. 3; 225-238; <a href="https://doi.org/10.1109/ojcsys.2024.3407999">10.1109/ojcsys.2024.3407999</a></li>
<li>Cohen, Max H. and Ong, Pio, el al. (2023) <a href="https://authors.library.caltech.edu/records/63dth-90524">Characterizing Smooth Safety Filters via the Implicit Function Theorem</a>; IEEE Control Systems Letters; Vol. 7; 3890-3895; <a href="https://doi.org/10.1109/lcsys.2023.3341345">10.1109/lcsys.2023.3341345</a></li>
<li>Molnar, Tamas G. and Ames, Aaron D. (2023) <a href="https://authors.library.caltech.edu/records/pbxrp-5sm14">Composing Control Barrier Functions for Complex Safety Specifications</a>; IEEE Control Systems Letters; Vol. 7; 3615-3620; <a href="https://doi.org/10.1109/lcsys.2023.3339719">10.1109/lcsys.2023.3339719</a></li>
<li>Ingraham, Kimberly A. and Tucker, Maegan, el al. (2023) <a href="https://authors.library.caltech.edu/records/jjqj6-rmp61">Leveraging user preference in the design and evaluation of lower-limb exoskeletons and prostheses</a>; Current Opinion in Biomedical Engineering; Vol. 28; 100487; <a href="https://doi.org/10.1016/j.cobme.2023.100487">10.1016/j.cobme.2023.100487</a></li>
<li>Alan, Anil and Taylor, Andrew J., el al. (2023) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20230726-217422400.22">Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles</a>; IEEE Transactions on Control Systems Technology; <a href="https://doi.org/10.1109/tcst.2023.3286090">10.1109/tcst.2023.3286090</a></li>
<li>Kiss, Adam K. and Molnár, Tamás G., el al. (2023) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20230530-441768000.77">Control barrier functionals: Safety‐critical control for time delay systems</a>; International Journal of Robust and Nonlinear Control; <a href="https://doi.org/10.1002/rnc.6751">10.1002/rnc.6751</a></li>
<li>Molnár, Tamás G. and Tighe, Katherine, el al. (2023) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20230711-988247900.6">Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns</a>; Journal of Computational and Nonlinear Dynamics; Vol. 18; No. 6; Art. No. 061001; <a href="https://doi.org/10.1115/1.4056659">10.1115/1.4056659</a></li>
<li>Molnár, Tamás G. and Kiss, Adam K., el al. (2023) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20230104-586485300.10">Safety-Critical Control With Input Delay in Dynamic Environment</a>; IEEE Transactions on Control Systems Technology; <a href="https://doi.org/10.1109/tcst.2022.3227451">10.1109/tcst.2022.3227451</a></li>
<li>Gehlhar, Rachel and Tucker, Maegan, el al. (2023) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20230628-332770500.20">A review of current state-of-the-art control methods for lower-limb powered prostheses</a>; Annual Reviews in Control; Vol. 55; 142-164; PMCID PMC10449377; <a href="https://doi.org/10.1016/j.arcontrol.2023.03.003">10.1016/j.arcontrol.2023.03.003</a></li>
<li>Molnár, Tamás G. and Alan, Anil, el al. (2022) <a href="https://authors.library.caltech.edu/records/1typ7-6pt86">Input-to-State Safety with Input Delay in Longitudinal Vehicle Control</a>; IFAC-PapersOnLine; Vol. 55; No. 36; 312-317; <a href="https://doi.org/10.1016/j.ifacol.2022.11.376">10.1016/j.ifacol.2022.11.376</a></li>
<li>Akella, Prithvi and Ames, Aaron D. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220728-729449000">A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems</a>; IEEE Robotics and Automation Letters; <a href="https://doi.org/10.1109/lra.2022.3192805">10.1109/lra.2022.3192805</a></li>
<li>Azimi, Vahid and Farzan, Siavash, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220726-997464000">Active space control of underactuated robots: From adaptation to robustness to optimality</a>; International Journal of Adaptive Control and Signal Processing; <a href="https://doi.org/10.1002/acs.3470">10.1002/acs.3470</a></li>
<li>Rosolia, Ugo and Singletary, Andrew, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220721-7910000">Unified Multi-Rate Control: From Low-Level Actuation to High-Level Planning</a>; IEEE Transactions on Automatic Control; <a href="https://doi.org/10.1109/tac.2022.3184664">10.1109/tac.2022.3184664</a></li>
<li>Singletary, Andrew and Guffey, William, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220714-194307878">Safety-Critical Manipulation for Collision-Free Food Preparation</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 4; 10954-10961; <a href="https://doi.org/10.1109/LRA.2022.3192634">10.1109/LRA.2022.3192634</a></li>
<li>Fawcett, Randall T. and Afsari, Kereshmeh, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220712-629677000">Toward a Data-Driven Template Model for Quadrupedal Locomotion</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 3; 7636-7643; <a href="https://doi.org/10.1109/lra.2022.3184007">10.1109/lra.2022.3184007</a></li>
<li>Pandala, Abhishek and Fawcett, Randall T., el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220715-535824900">Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 3; 6622-6629; <a href="https://doi.org/10.1109/lra.2022.3176105">10.1109/lra.2022.3176105</a></li>
<li>Singletary, Andrew and Ahmadi, Mohamadreza, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220707-315696000">Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions</a>; IEEE Control Systems Letters; Vol. 7; 349-354; <a href="https://doi.org/10.1109/lcsys.2022.3187458">10.1109/lcsys.2022.3187458</a></li>
<li>Ferraguti, Federica and Talignani Landi, Chiara, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220614-222253000">Safety and Efficiency in Robotics: The Control Barrier Functions Approach</a>; IEEE Robotics and Automation Magazine; <a href="https://doi.org/10.1109/mra.2022.3174699">10.1109/mra.2022.3174699</a></li>
<li>Jimenez Rodriguez, Ivan Dario and Csomay-Shanklin, Noel, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220714-194300374">Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies</a>; Proceedings of Machine Learning Research; Vol. 168; 1060-1072; <a href="https://doi.org/10.48550/arXiv.2204.08120">10.48550/arXiv.2204.08120</a></li>
<li>Kamidi, Vinay R. and Kim, Jeeseop, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220622-681692100">Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots</a>; IEEE Control Systems Letters; Vol. 6; 2509-2514; <a href="https://doi.org/10.1109/lcsys.2022.3167795">10.1109/lcsys.2022.3167795</a></li>
<li>Singletary, Andrew and Swann, Aiden, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220224-200854184">Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 2897-2904; <a href="https://doi.org/10.1109/LRA.2022.3144777">10.1109/LRA.2022.3144777</a></li>
<li>Li, Kejun and Tucker, Maegan, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220210-721740000">Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 4283-4290; <a href="https://doi.org/10.1109/lra.2022.3149568">10.1109/lra.2022.3149568</a></li>
<li>Gehlhar, Rachel and Yang, Je-han, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220307-188387000">Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 5151-5158; <a href="https://doi.org/10.1109/lra.2022.3154810">10.1109/lra.2022.3154810</a></li>
<li>Molnár, Tamás G. and Cosner, Ryan K., el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220107-191565600">Model-Free Safety-Critical Control for Robotic Systems</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 944-951; <a href="https://doi.org/10.1109/lra.2021.3135569">10.1109/lra.2021.3135569</a></li>
<li>Chen, Yuxiao and Rosolia, Ugo, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220317-375745000">Interactive Multi-Modal Motion Planning With Branch Model Predictive Control</a>; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 5365-5372; <a href="https://doi.org/10.1109/lra.2022.3156648">10.1109/lra.2022.3156648</a></li>
<li>Xiong, Xiaobin and Ames, Aaron (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220307-188394000">3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization</a>; IEEE Transactions on Robotics; <a href="https://doi.org/10.1109/tro.2022.3150219">10.1109/tro.2022.3150219</a></li>
<li>Jimenez Rodriguez, Ivan Dario and Ames, Aaron D., el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220714-224552040">LyaNet: A Lyapunov Framework for Training Neural ODEs</a>; Proceedings of Machine Learning Research; 18687-18703; <a href="https://doi.org/10.48550/arXiv.arXiv.2202.02526">10.48550/arXiv.arXiv.2202.02526</a></li>
<li>Taylor, Andrew J. and Dorobantu, Victor D., el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210510-100142166">Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs</a>; IEEE Control Systems Letters; Vol. 6; 680-685; <a href="https://doi.org/10.1109/LCSYS.2021.3085172">10.1109/LCSYS.2021.3085172</a></li>
<li>Singletary, Andrew and Kolathaya, Shishir, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20201109-155517556">Safety-Critical Kinematic Control of Robotic Systems</a>; IEEE Control Systems Letters; Vol. 6; 139-144; <a href="https://doi.org/10.1109/LCSYS.2021.3050609">10.1109/LCSYS.2021.3050609</a></li>
<li>Alan, Anil and Taylor, Andrew J., el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210331-070249507">Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions</a>; IEEE Control Systems Letters; Vol. 6; 908-913; <a href="https://doi.org/10.1109/LCSYS.2021.3087443">10.1109/LCSYS.2021.3087443</a></li>
<li>Garg, Kunal and Cosner, Ryan K., el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210511-083656642">Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions</a>; IEEE Control Systems Letters; Vol. 6; 608-613; <a href="https://doi.org/10.1109/LCSYS.2021.3084322">10.1109/LCSYS.2021.3084322</a></li>
<li>Ahmadi, Mohamadreza and Xiong, Xiaobin, el al. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20201109-140945703">Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion</a>; IEEE Control Systems Letters; Vol. 6; 878-883; <a href="https://doi.org/10.1109/LCSYS.2021.3086854">10.1109/LCSYS.2021.3086854</a></li>
<li>Rosolia, Ugo and Ames, Aaron D. (2022) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210511-072911881">Iterative Model Predictive Control for Piecewise Systems</a>; IEEE Control Systems Letters; Vol. 6; 842-847; <a href="https://doi.org/10.1109/LCSYS.2021.3086561">10.1109/LCSYS.2021.3086561</a></li>
<li>Fawcett, Randall T. and Pandala, Abhishek, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220104-181287300">Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers</a>; IEEE Control Systems Letters; Vol. 6; 1736-1741; <a href="https://doi.org/10.1109/lcsys.2021.3133198">10.1109/lcsys.2021.3133198</a></li>
<li>Folkestad, Carl and Chen, Yuxiao, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210113-163505361">Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators</a>; IEEE Control Systems Letters; Vol. 5; No. 6; 2012-2017; <a href="https://doi.org/10.1109/lcsys.2020.3046159">10.1109/lcsys.2020.3046159</a></li>
<li>Chen, Yuxiao and Santillo, Mario, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210113-163505184">Online Decentralized Decision Making With Inequality Constraints: An ADMM approach</a>; IEEE Control Systems Letters; Vol. 5; No. 6; 2156-2161; <a href="https://doi.org/10.1109/lcsys.2020.3044873">10.1109/lcsys.2020.3044873</a></li>
<li>Molnár, Tamás G. and Singletary, Andrew W., el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20201109-140935453">Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays</a>; IEEE Control Systems Letters; Vol. 5; No. 5; 1537-1542; PMCID PMC8545040; <a href="https://doi.org/10.1109/LCSYS.2020.3040948">10.1109/LCSYS.2020.3040948</a></li>
<li>Sun, Yu and Ubellacker, Wyatt L., el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20211021-172748746">Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion</a>; IEEE Robotics and Automation Letters; Vol. 6; No. 4; 8442-8449; <a href="https://doi.org/10.1109/lra.2021.3108510">10.1109/lra.2021.3108510</a></li>
<li>Westenbroek, Tyler and Xiong, Xiaobin, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20220104-157181000">Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking</a>; IFAC-PapersOnLine; Vol. 54; No. 5; 181-186; <a href="https://doi.org/10.1016/j.ifacol.2021.08.495">10.1016/j.ifacol.2021.08.495</a></li>
<li>Kerdraon, Jacques and Previnaire, Jean Gabriel, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210714-191344383">Evaluation of safety and performance of the self balancing walking system Atalante in patients with complete motor spinal cord injury</a>; Spinal Cord Series and Cases: Clinical Management in Spinal Cord Disorders; Vol. 7; Art. No. 71; <a href="https://doi.org/10.1038/s41394-021-00432-3">10.1038/s41394-021-00432-3</a></li>
<li>Taylor, Andrew J. and Singletary, Andrew, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200707-104322686">A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety</a>; IEEE Control Systems Letters; Vol. 5; No. 3; 1019-1024; <a href="https://doi.org/10.1109/LCSYS.2020.3009082">10.1109/LCSYS.2020.3009082</a></li>
<li>Ames, Aaron D. and Notomista, Gennaro, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200710-140738518">Integral Control Barrier Functions for Dynamically Defined Control Laws</a>; IEEE Control Systems Letters; Vol. 5; No. 3; 887-892; <a href="https://doi.org/10.1109/lcsys.2020.3006764">10.1109/lcsys.2020.3006764</a></li>
<li>Chang, Alexander H. and Hubicki, Christian M., el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200807-102400461">Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping</a>; IEEE Transactions on Control Systems Technology; Vol. 29; No. 4; 1581-1596; <a href="https://doi.org/10.1109/tcst.2020.3009636">10.1109/tcst.2020.3009636</a></li>
<li>Taylor, Andrew J. and Ong, Pio, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200706-084348576">Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions</a>; IEEE Control Systems Letters; Vol. 5; No. 3; 749-754; <a href="https://doi.org/10.1109/lcsys.2020.3005101">10.1109/lcsys.2020.3005101</a></li>
<li>Chen, Yuxiao and Rosolia, Ugo, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210120-165241963">Decentralized Task and Path Planning for Multi-Robot Systems</a>; IEEE Robotics and Automation Letters; Vol. 6; No. 3; 4337-4344; <a href="https://doi.org/10.1109/LRA.2021.3068103">10.1109/LRA.2021.3068103</a></li>
<li>Rosolia, Ugo and Ames, Aaron D. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200707-110214475">Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies</a>; IEEE Control Systems Letters; Vol. 5; No. 3; 1007-1012; <a href="https://doi.org/10.1109/LCSYS.2020.3008326">10.1109/LCSYS.2020.3008326</a></li>
<li>Ma, Wen-Loong and Csomay-Shanklin, Noel, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200707-110517874">Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion</a>; IEEE Control Systems Letters; Vol. 5; No. 3; 935-940; <a href="https://doi.org/10.1109/LCSYS.2020.3006963">10.1109/LCSYS.2020.3006963</a></li>
<li>Csomay-Shanklin, Noel and Cosner, Ryan K., el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210604-142541635">Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety</a>; Proceedings of Machine Learning Research; Vol. 144; 1041-1053; <a href="https://doi.org/10.48550/arXiv.2105.01697">10.48550/arXiv.2105.01697</a></li>
<li>Ma, Wen-Loong and Csomay-Shanklin, Noel, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210421-085752484">Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion</a>; IEEE Robotics and Automation Letters; Vol. 6; No. 2; 3761-3768; <a href="https://doi.org/10.1109/LRA.2021.3065174">10.1109/LRA.2021.3065174</a></li>
<li>Xiong, Xiaobin and Ames, Aaron (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20210225-132704894">SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program</a>; IEEE Robotics and Automation Letters; Vol. 6; No. 2; 2122-2129; <a href="https://doi.org/10.1109/LRA.2021.3061385">10.1109/LRA.2021.3061385</a></li>
<li>Gehlhar, Rachel and Ames, Aaron D. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200625-151814604">Separable Control Lyapunov Functions with Application to Prostheses</a>; IEEE Control Systems Letters; Vol. 5; No. 2; 559-564; <a href="https://doi.org/10.1109/lcsys.2020.3004181">10.1109/lcsys.2020.3004181</a></li>
<li>Konda, Rohit and Ames, Aaron D., el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200625-151814838">Characterizing Safety: Minimal Control Barrier Functions from Scalar Comparison Systems</a>; IEEE Control Systems Letters; Vol. 5; No. 2; 523-528; <a href="https://doi.org/10.1109/lcsys.2020.3003887">10.1109/lcsys.2020.3003887</a></li>
<li>Chen, Yuxiao and Anderson, James, el al. (2021) <a href="https://resolver.caltech.edu/CaltechAUTHORS:20200707-113800670">Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts</a>; IEEE Transactions on Control of Network Systems; Vol. 8; No. 1; 487-499; <a href="https://doi.org/10.1109/TCNS.2020.3029183">10.1109/TCNS.2020.3029183</a></li>
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