Ames, Aaron

Combined from CaltechAUTHORS

Akella, Prithvi and Dixit, Anushri, et el. (2024) Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification; Artificial Intelligence; Vol. 336; 104195; 10.1016/j.artint.2024.104195
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
Cohen, Max H. and Ong, Pio, et el. (2023) Characterizing Smooth Safety Filters via the Implicit Function Theorem; IEEE Control Systems Letters; Vol. 7; 3890-3895; 10.1109/lcsys.2023.3341345
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
Ghansah, Adrian B. and Kim, Jeeseop, et el. (2023) Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics; ISBN 979-8-3503-0124-3; 2023 62nd IEEE Conference on Decision and Control (CDC); 1879-1885; 10.1109/cdc49753.2023.10383745
Molnar, Tamas G. and Orosz, Gábor, et el. (2023) On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions; ISBN 979-8-3503-0124-3; 2023 62nd IEEE Conference on Decision and Control (CDC); 1106-1111; 10.1109/cdc49753.2023.10383336
Krasowski, Hanna and Akella, Prithvi, et el. (2023) Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces; ISBN 979-8-3503-0124-3; 2023 62nd IEEE Conference on Decision and Control (CDC); 4372-4378; 10.1109/cdc49753.2023.10383601
Akella, Prithvi and Ames, Aaron D. (2023) Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems; ISBN 979-8-3503-0124-3; 2023 62nd IEEE Conference on Decision and Control (CDC); 79-85; 10.1109/cdc49753.2023.10383374
Ong, Pio and Ames, Aaron D. (2023) Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers; ISBN 979-8-3503-0124-3; 2023 62nd IEEE Conference on Decision and Control (CDC); 870-877; 10.1109/cdc49753.2023.10383437
Culbertson, Preston and Cosner, Ryan K., et el. (2023) Input-to-State Stability in Probability; ISBN 979-8-3503-0124-3; 2023 62nd IEEE Conference on Decision and Control (CDC); 5796-5803; 10.1109/cdc49753.2023.10383579
Dai, Min and Xiong, Xiaobin, et el. (2023) Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics; ISBN 978-1-6654-9190-7; 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 8574-8581; 10.1109/iros55552.2023.10341396
Kim, Jeeseop and Lee, Jaemin, et el. (2023) Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions; ISBN 978-1-6654-9190-7; 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 2368-2375; 10.1109/iros55552.2023.10341987
Li, Albert H. and Culbertson, Preston, et el. (2023) FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric; ISBN 978-1-6654-9190-7; 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 6809-6816; 10.1109/iros55552.2023.10341806
Lee, Jaemin and Kim, Jeeseop, et el. (2023) Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots; ISBN 978-1-6654-9190-7; 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 2384-2391; 10.1109/iros55552.2023.10342094
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
Molnár, Tamás G. and Tighe, Katherine, et el. (2023) Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns; Journal of Computational and Nonlinear Dynamics; Vol. 18; No. 6; Art. No. 061001; 10.1115/1.4056659
Li, Albert H. and Culbertson, Preston, et el. (2023) FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
Akella, Prithvi and Ahmadi, Mohamadreza, et el. (2023) Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications
Akella, Prithvi and Ubellacker, Wyatt, et el. (2023) Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
Molnar, Tamás G. and Ames, Aaron D. (2023) Safety-Critical Control with Bounded Inputs via Reduced Order Models
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
Gehlhar, Rachel and Tucker, Maegan, et el. (2023) A review of current state-of-the-art control methods for lower-limb powered prostheses; Annual Reviews in Control; Vol. 55; 142-164; PMCID PMC10449377; 10.1016/j.arcontrol.2023.03.003
Tucker, Maegan and Li, Kejun, et el. (2022) POLAR: Preference Optimization and Learning Algorithms for Robotics; 10.48550/arXiv.2208.04404
Dai, Min and Xiong, Xiaobin, et el. (2022) Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking; 10.48550/arXiv.2209.08458
Tucker, Maegan and Csomay-Shanklin, Noel, et el. (2022) Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization; 10.48550/arXiv.2209.10452
Singletary, Andrew and Swann, Aiden, et el. (2022) Safe Drone Flight with Time-Varying Backup Controllers; 10.48550/arXiv.2207.05220
Akella, Prithvi and Wei, Skylar X., et el. (2022) Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data; 10.48550/arXiv.2212.06253
Fawcett, Randall T. and Amanzadeh, Leila, et el. (2022) Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion; 10.48550/arXiv.2211.06917
Gehlhar, Rachel and Ames, Aaron D. (2022) Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control; 10.48550/arXiv.2209.13739
Badithela, Apurva and Graebener, Josefine B., et el. (2022) Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows; 10.48550/arXiv.2210.10304
Csomay-Shanklin, Noel and Dorobantu, Victor D., et el. (2022) Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors; 10.48550/arXiv.2209.11808
Kim, Jeeseop and Fawcett, Randall T., et el. (2022) Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches; 10.48550/arXiv.2211.06913
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
Alan, Anil and Taylor, Andrew J., et el. (2022) Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles; 10.48550/arXiv.arXiv.2206.03568
Molnár, Tamás G. and Alan, Anil, et el. (2022) Input-to-State Safety with Input Delay in Longitudinal Vehicle Control; 10.48550/arXiv.arXiv.2205.14567
Ong, Pio and Bahati, Gilbert, et el. (2022) Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization; 10.48550/arXiv.arXiv.2204.03110
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
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
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
Kiss, Adam K. and Molnár, Tamás G., et el. (2022) Control Barrier Functionals: Safety-critical Control for Time Delay Systems; 10.48550/arXiv.arXiv.2206.08409
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
Jimenez Rodriguez, Ivan Dario and Csomay-Shanklin, Noel, et el. (2022) Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies; Proceedings of Machine Learning Research; Vol. 168; 1060-1072; 10.48550/arXiv.2204.08120
Kamidi, Vinay R. and Kim, Jeeseop, et el. (2022) Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots; IEEE Control Systems Letters; Vol. 6; 2509-2514; 10.1109/lcsys.2022.3167795
Csomay-Shanklin, Noel and Taylor, Andrew J., et el. (2022) Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions; 10.48550/arXiv.arXiv.2204.00152
Taylor, Andrew J. and Ong, Pio, et el. (2022) Safe Backstepping with Control Barrier Functions; 10.48550/arXiv.arXiv.2204.00653
Molnár, Tamás G. and Cosner, Ryan K., et el. (2022) Model-Free Safety-Critical Control for Robotic Systems; IEEE Robotics and Automation Letters; Vol. 7; No. 2; 944-951; 10.1109/lra.2021.3135569
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
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
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
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
Taylor, Andrew J. and Dorobantu, Victor D., et el. (2022) Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models; 10.48550/arXiv.2203.11470
Galliker, Manuel Y. and Csomay-Shanklin, Noel, et el. (2022) Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics; 10.48550/arXiv.2203.07429
Cosner, Ryan K. and Jimenez Rodriguez, Ivan D., et el. (2022) Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision; 10.48550/arXiv.2203.01404
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
Johansson, Kasper and Rosolia, Ugo, et el. (2022) Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments; 10.48550/arXiv.2110.01002
Cosner, Ryan K. and Tucker, Maegan, et el. (2022) Safety-Aware Preference-Based Learning for Safety-Critical Control; 10.48550/arXiv.2112.08516
Molnar, Tamas G. and Kiss, Adam K., et el. (2022) Safety-Critical Control with Input Delay in Dynamic Environment; 10.48550/arXiv.2112.08445
Ahmadi, Mohamadreza and Rosolia, Ugo, et el. (2022) Risk-Averse Decision Making Under Uncertainty; 10.48550/arXiv.2109.04082
Akella, Prithvi and Ubellacker, Wyatt, et el. (2022) Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification; 10.48550/arXiv.2201.01323
Jimenez Rodriguez, Ivan Dario and Ames, Aaron D., et el. (2022) LyaNet: A Lyapunov Framework for Training Neural ODEs; 10.48550/arXiv.2202.02526
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
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
Alan, Anil and Taylor, Andrew J., et el. (2022) Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions; IEEE Control Systems Letters; Vol. 6; 908-913; 10.1109/LCSYS.2021.3087443
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
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
Ahmadi, Mohamadreza and Xiong, Xiaobin, et el. (2022) Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion; IEEE Control Systems Letters; Vol. 6; 878-883; 10.1109/LCSYS.2021.3086854
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
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
Taylor, Andrew J. and Dorobantu, Victor D., et el. (2021) Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty; ISBN 978-1-6654-3659-5; 2021 60th IEEE Conference on Decision and Control (CDC); 6469-6476; 10.1109/CDC45484.2021.9683511
Xiong, Xiaobin and Chen, Yuxiao, et el. (2021) Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation; ISBN 978-1-6654-3659-5; 2021 60th IEEE Conference on Decision and Control (CDC); 697-704; 10.1109/cdc45484.2021.9683065
Ahmadi, Mohamadreza and Dixit, Anushri, et el. (2021) Risk-Averse Stochastic Shortest Path Planning; ISBN 978-1-6654-3659-5; 2021 60th IEEE Conference on Decision and Control (CDC); 5199-5204; 10.1109/CDC45484.2021.9683527
Gehlhar, Rachel and Ames, Aaron D. (2021) Estimate-to-State Stability for Hybrid Human-Prosthesis Systems; ISBN 978-1-6654-3659-5; 2021 60th IEEE Conference on Decision and Control (CDC); 705-712; 10.1109/cdc45484.2021.9683029
Rosolia, Ugo and Ahmadi, Mohamadreza, et el. (2021) Time-Optimal Navigation in Uncertain Environments with High-Level Specifications; ISBN 978-1-6654-3659-5; 2021 60th IEEE Conference on Decision and Control (CDC); 4287-4294; 10.1109/CDC45484.2021.9683486
Chen, Yuxiao and Jankovic, Mrdjan, et el. (2021) Backup Control Barrier Functions: Formulation and Comparative Study; ISBN 978-1-6654-3659-5; 2021 60th IEEE Conference on Decision and Control (CDC); 6835-6841; 10.1109/CDC45484.2021.9683111
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
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
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
Ubellacker, Wyatt and Csomay-Shanklin, Noel, et el. (2021) Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots; ISBN 978-1-6654-1715-0; 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 8477-8484; 10.1109/IROS51168.2021.9636537
Cosner, Ryan K. and Singletary, Andrew W., et el. (2021) Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State; ISBN 978-1-6654-1715-0; 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 6286-6291; 10.1109/IROS51168.2021.9636584
Jimenez Rodriguez, Ivan D. and Rosolia, Ugo, et el. (2021) Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control; ISBN 978-1-6654-1714-3; 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 3896-3903; 10.1109/IROS51168.2021.9636786
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
Reher, Jenna and Ames, Aaron D. (2021) Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking; 10.48550/arXiv.2107.04241
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
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
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
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
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
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 Ong, Pio, et el. (2021) Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions; IEEE Control Systems Letters; Vol. 5; No. 3; 749-754; 10.1109/lcsys.2020.3005101
Gehlhar, Rachel and Yang, Je-han, et el. (2021) Model-Dependent Prosthesis Control with Real-Time Force Sensing; 10.48550/arXiv.2105.11561
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
Tucker, Maegan and Csomay-Shanklin, Noel, et el. (2021) Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 2804-2810; 10.1109/ICRA48506.2021.9561515
Li, Kejun and Tucker, Maegan, et el. (2021) ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 3212-3218; 10.1109/ICRA48506.2021.9560840
Ahmadi, Mohamadreza and Rosolia, Ugo, et el. (2021) Constrained Risk-Averse Markov Decision Processes; 10.48550/arXiv.2012.02423
Molnár, Tamás G. and Singletary, Andrew W., et el. (2021) Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays; ISBN 978-1-6654-4197-1; 2021 American Control Conference (ACC); 1052-1057; 10.23919/acc50511.2021.9482737
Xiong, Xiaobin and Reher, Jenna, et el. (2021) Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 2825-2831; 10.1109/icra48506.2021.9561961
Chen, Yuxiao and Santillo, Mario, et el. (2021) Online decentralized decision making with inequality constraints: An ADMM approach; ISBN 978-1-6654-4197-1; 2021 American Control Conference (ACC); 2075-2081; 10.23919/ACC50511.2021.9483302
Maghenem, Mohamed and Taylor, Andrew J., et el. (2021) Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation; ISBN 978-1-6654-4197-1; 2021 American Control Conference (ACC); 2418-2423; 10.23919/ACC50511.2021.9482871
Grandia, Ruben and Taylor, Andrew J., et el. (2021) Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 8352-8358; 10.1109/ICRA48506.2021.9561510
Ambrose, Eric and Ma, Wen-Loong, et el. (2021) Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 7073-7078; 10.1109/icra48506.2021.9561322
Gehlhar, Rachel and Ames, Aaron D. (2021) Model-Dependent Prosthesis Control with Interaction Force Estimation; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 3226-3232; 10.1109/icra48506.2021.9561250
Reher, Jenna and Ames, Aaron D. (2021) Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking; ISBN 978-1-7281-9077-8; 2021 IEEE International Conference on Robotics and Automation (ICRA); 2040-2047; 10.1109/ICRA48506.2021.9560906
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Ames, Aaron D. and Xu, Xiangru, et el. (2017) Control Barrier Function Based Quadratic Programs for Safety Critical Systems; IEEE Transactions on Automatic Control; Vol. 62; No. 8; 3861-3876; 10.1109/TAC.2016.2638961
Ambrose, Eric and Ma, Wen-Loong, et el. (2017) Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M; ISBN 978-1-5090-2182-6; 2017 IEEE Conference on Control Technology and Applications; 1270-1276; 10.1109/CCTA.2017.8062633
Chang, Alexander H. and Hubicki, Christian M., et el. (2017) Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression; ISBN 978-1-5090-4633-1; 2017 IEEE International Conference on Robotics and Automation (ICRA); 2154-2160; 10.1109/icra.2017.7989248
Pickem, Daniel and Glotfelter, Paul, et el. (2017) The Robotarium: A remotely accessible swarm robotics research testbed; ISBN 978-1-5090-4633-1; 2017 IEEE International Conference on Robotics and Automation (ICRA); 1699-1706; 10.1109/ICRA.2017.7989200
Wang, Li and Ames, Aaron D., et el. (2017) Safety Barrier Certificates for Collisions-Free Multirobot Systems; IEEE Transactions on Robotics; Vol. 33; No. 3; 661-674; 10.1109/TRO.2017.2659727
Azimi, Vahid and Shu, Tony, et el. (2017) Robust control of a powered transfemoral prosthesis device with experimental verification; ISBN 978-1-5090-5992-8; 2017 American Control Conference; 517-522; 10.23919/ACC.2017.7963005
Zhao, Huihua and Ambrose, Eric, et el. (2017) Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis; ISBN 978-1-5090-4633-1; 2017 IEEE International Conference on Robotics and Automation (ICRA); 1140-1147; 10.1109/ICRA.2017.7989136
Zhao, Huihua and Hereid, Ayonga, et el. (2017) Multi-contact bipedal robotic locomotion; Robotica; Vol. 35; No. 5; 1072-1106; 10.1017/s0263574715000995
Wang, Li and Ames, Aaron D., et el. (2017) Safe certificate-based maneuvers for teams of quadrotors using differential flatness; ISBN 978-1-5090-4633-1; 2017 IEEE International Conference on Robotics and Automation; 3293-3298; 10.1109/ICRA.2017.7989375
Shoukry, Yasser and Tabuada, Paulo, et el. (2017) Closed-form controlled invariant sets for pedestrian avoidance; ISBN 978-1-5090-5992-8; 2017 American Control Conference; 1622-1628; 10.23919/ACC.2017.7963185
Grey, Michael X. and Ames, Aaron D., et el. (2017) Footstep and motion planning in semi-unstructured environments using randomized possibility graphs; ISBN 978-1-5090-4633-1; 2017 IEEE International Conference on Robotics and Automation; 4747-4753; 10.1109/ICRA.2017.7989551
Agrawal, Ayush and Harib, Omar, et el. (2017) First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons; IEEE Access; Vol. 5; 9919-9934; 10.1109/ACCESS.2017.2690407
Ma, Wen-Loong and Kolathaya, Shishir, et el. (2017) Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment; ISBN 978-1-4503-4590-3; Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control - HSCC '17; 265-274; 10.1145/3049797.3049823
Zhao, Huihua and Horn, Jonathan, et el. (2017) First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach; Autonomous Robots; Vol. 41; No. 3; 725-742; 10.1007/s10514-016-9565-1
Nguyen, Quang and Hereid, Ayonga, et el. (2016) 3D dynamic walking on stepping stones with control barrier functions; ISBN 978-1-5090-1837-6; 2016 IEEE 55th Conference on Decision and Control (CDC); 827-834; 10.1109/CDC.2016.7798370
Hereid, Ayonga and Kolathaya, Shishir, et el. (2016) Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization; ISBN 978-1-5090-1837-6; 2016 IEEE 55th Conference on Decision and Control (CDC); 6173-6179; 10.1109/CDC.2016.7799218
Wang, Li and Ames, Aaron D., et el. (2016) Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots; ISBN 978-1-5090-1837-6; 2016 IEEE 55th Conference on Decision and Control (CDC); 2659-2664; 10.1109/CDC.2016.7798663
Zhao, Huihua and Hereid, Ayonga, et el. (2016) 3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation; ISBN 978-1-5090-1837-6; 2016 IEEE 55th Conference on Decision and Control (CDC); 3668-3674; 10.1109/CDC.2016.7798821
Powell, Matthew J. and Ma, Wen-Loong, et el. (2016) Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization; ISBN 978-1-5090-4718-5; 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids); 981-986; 10.1109/humanoids.2016.7803391
Grey, Michael X. and Garrett, Caelan R., et el. (2016) Humanoid manipulation planning using backward-forward search; ISBN 978-1-5090-3762-9; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 5467-5473; 10.1109/IROS.2016.7759804
Hubicki, Christian M. and Aguilar, Jeff J., et el. (2016) Tractable terrain-aware motion planning on granular media: An impulsive jumping study; ISBN 978-1-5090-3762-9; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 3887-3892; 10.1109/IROS.2016.7759572
Ma, Wen-Loong and Hereid, Ayonga, et el. (2016) Efficient HZD gait generation for three-dimensional underactuated humanoid running; ISBN 978-1-5090-3762-9; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 5819-5825; 10.1109/IROS.2016.7759856
Powell, Matthew J. and Ames, Aaron D. (2016) Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints; ISBN 978-1-5090-3762-9; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 555-560; 10.1109/IROS.2016.7759108
Powell, Matthew J. and Ames, Aaron D. (2016) Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion; ISBN 978-1-4673-8682-1; 2016 American Control Conference (ACC); 3922-3927; 10.1109/ACC.2016.7525525
Chao, Kenneth Y. and Powell, Matthew J., et el. (2016) Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs; ISBN 978-1-4673-8682-1; 2016 American Control Conference (ACC); 3910-3915; 10.1109/ACC.2016.7525523
Wang, Li and Ames, Aaron, et el. (2016) Safety barrier certificates for heterogeneous multi-robot systems; ISBN 978-1-4673-8682-1; 2016 American Control Conference (ACC); 5213-5218; 10.1109/ACC.2016.7526486
Kolathaya, Shishir and Hereid, Ayonga, et el. (2016) Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion; ISBN 978-1-4673-8682-1; 2016 American Control Conference (ACC); 3916-3921; 10.1109/ACC.2016.7525524
Nilsson, Petter and Hussien, Omar, et el. (2016) Correct-by-Construction Adaptive Cruise Control: Two Approaches; IEEE Transactions on Control Systems Technology; Vol. 24; No. 4; 1294-1307; 10.1109/tcst.2015.2501351
Hereid, Ayonga and Cousineau, Eric A., et el. (2016) 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics; ISBN 978-1-4673-8026-3; 2016 IEEE International Conference on Robotics and Automation (ICRA); 1447-1454; 10.1109/ICRA.2016.7487279
Hubicki, Christian M. and Hereid, Ayonga, et el. (2016) Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion; ISBN 978-1-4673-8026-3; 2016 IEEE International Conference on Robotics and Automation (ICRA); 1552-1559; 10.1109/ICRA.2016.7487293
Reher, Jacob and Cousineau, Eric A., et el. (2016) Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS; ISBN 978-1-4673-8026-3; 2016 IEEE International Conference on Robotics and Automation (ICRA); 1794-1801; 10.1109/ICRA.2016.7487325
Zhao, Huihua and Horner, Jonathan, et el. (2016) Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control; IEEE Transactions on Automation Science and Engineering; Vol. 13; No. 2; 502-513; 10.1109/tase.2016.2524528
Zhao, Huihua and Horn, Jonathan, et el. (2015) A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses; ISBN 978-1-4799-7886-1; 2015 54th IEEE Conference on Decision and Control (CDC); 1607-1612; 10.1109/CDC.2015.7402440
Morris, Benjamin J. and Powell, Matthew J., et el. (2015) Continuity and smoothness properties of nonlinear optimization-based feedback controllers; ISBN 978-1-4799-7886-1; 2015 54th IEEE Conference on Decision and Control (CDC); 151-158; 10.1109/CDC.2015.7402101
Xu, Xiangru and Tabuada, Paulo, et el. (2015) Robustness of Control Barrier Functions for Safety Critical Control; IFAC-PapersOnLine; Vol. 48; No. 27; 54-61; 10.1016/j.ifacol.2015.11.152
Zhao, Huihua and Reher, Jacob, et el. (2015) Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition; ISBN 978-1-4799-1808-9; 2015 IEEE International Conference on Rehabilitation Robotics (ICORR); 265-270; 10.1109/icorr.2015.7281210
Mehra, Aakar and Ma, Wen-Loong, et el. (2015) Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars; ISBN 978-1-4799-8684-2; 2015 American Control Conference (ACC); 1411-1418; 10.1109/acc.2015.7170931
Hsu, Shao-Chen and Xu, Xiangru, et el. (2015) Control barrier function based quadratic programs with application to bipedal robotic walking; ISBN 978-1-4799-8684-2; 2015 American Control Conference (ACC); 4542-4548; 10.1109/ACC.2015.7172044
Sinnet, Ryan W. and Ames, Aaron D. (2015) Energy shaping of hybrid systems via control Lyapunov functions; ISBN 978-1-4799-8684-2; 2015 American Control Conference (ACC); 5992-5997; 10.1109/ACC.2015.7172280
Ames, Aaron D. and Tabuada, Paulo, et el. (2015) First steps toward formal controller synthesis for bipedal robots; ISBN 978-1-4503-3433-4; Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control; 209-218; 10.1145/2728606.2728611
Powell, Matthew J. and Cousineau, Eric A., et el. (2015) Model predictive control of underactuated bipedal robotic walking; ISBN 978-1-4799-6923-4; 2015 IEEE International Conference on Robotics and Automation (ICRA); 5121-5126; 10.1109/ICRA.2015.7139912
Cousineau, Eric and Ames, Aaron D. (2015) Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method; ISBN 978-1-4799-6923-4; 2015 IEEE International Conference on Robotics and Automation (ICRA); 5747-5753; 10.1109/ICRA.2015.7140004
Hereid, Ayonga and Hubicki, Christian M., et el. (2015) Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking; ISBN 978-1-4799-6923-4; 2015 IEEE International Conference on Robotics and Automation (ICRA); 5734-5740; 10.1109/icra.2015.7140002
Kolathaya, Shishir and Ma, Wen-Loong, et el. (2015) Composing Dynamical Systems to Realize Dynamic Robotic Dancing; ISBN 978-3-319-16594-3; Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics; 425-442; 10.1007/978-3-319-16595-0_25
Zhao, Huihua and Reher, Jake, et el. (2015) Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control; ISBN 9781450334334; Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control; 305-306; 10.1145/2728606.2728638
Powell, Matthew J. and Ames, Aaron D. (2014) Hierarchical control of series elastic actuators through control Lyapunov functions; ISBN 978-1-4673-6090-6; 53rd IEEE Conference on Decision and Control; 2986-2992; 10.1109/CDC.2014.7039848
Ames, Aaron D. and Grizzle, Jessy W., et el. (2014) Control barrier function based quadratic programs with application to adaptive cruise control; ISBN 978-1-4673-6090-6; 53rd IEEE Conference on Decision and Control; 6271-6278; 10.1109/CDC.2014.7040372
Nilsson, Petter and Hussien, Omar, et el. (2014) Preliminary results on correct-by-construction control software synthesis for adaptive cruise control; ISBN 978-1-4673-6090-6; 53rd IEEE Conference on Decision and Control; 816-823; 10.1109/cdc.2014.7039482
Hereid, Ayonga and Powell, Matthew J., et el. (2014) Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control; ISBN 978-1-4673-6090-6; 53rd IEEE Conference on Decision and Control; 2950-2957; 10.1109/CDC.2014.7039843
Ames, Aaron D. and Holley, James (2014) Quadratic program based nonlinear embedded control of series elastic actuators; ISBN 978-1-4673-6090-6; 53rd IEEE Conference on Decision and Control; 6291-6298; 10.1109/CDC.2014.7040375
Ma, Wen-Loong and Zhao, Hui-Hua, et el. (2014) Human-inspired walking via unified PD and impedance control; ISBN 978-1-4799-3685-4; 2014 IEEE International Conference on Robotics and Automation (ICRA); 5088-5094; 10.1109/icra.2014.6907605
Lack, Jordan and Powell, Matthew J., et el. (2014) Planar multi-contact bipedal walking using hybrid zero dynamics; ISBN 978-1-4799-3685-4; 2014 IEEE International Conference on Robotics and Automation (ICRA); 2582-2588; 10.1109/ICRA.2014.6907229
Zhao, Huihua and Ames, Aaron D. (2014) Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion; ISBN 9781479932726; 2014 American Control Conference; 4101-4107; 10.1109/ACC.2014.6859014
Zhao, Huihua and Kolathaya, Shishir, et el. (2014) Quadratic programming and impedance control for transfemoral prosthesis; ISBN 978-1-4799-3685-4; 2014 IEEE International Conference on Robotics and Automation (ICRA); 1341-1347; 10.1109/ICRA.2014.6907026
Zhao, Hui-Hua and Ma, Wen-Loong, et el. (2014) Human-inspired multi-contact locomotion with AMBER2; ISBN 978-1-4799-4930-4; 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS); 199-210; 10.1109/iccps.2014.6843723
Aghasadeghi, Navid and Zhao, Huihua, et el. (2013) Learning impedance controller parameters for lower-limb prostheses; ISBN 9781467363587; 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); 4268-4274; 10.1109/IROS.2013.6696968
Powell, Matthew J. and Hereid, Ayonga, et el. (2013) Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics; ISBN 978-1-4673-5643-5; 2013 IEEE International Conference on Robotics and Automation; 4803-4810; 10.1109/ICRA.2013.6631262
Ames, Aaron D. and Galloway, Kevin, et el. (2012) Control Lyapunov functions and hybrid zero dynamics; ISBN 978-1-4673-2066-5; 51st IEEE Conference on Decision and Control; 6837-6842; 10.1109/CDC.2012.6426229
Kolathaya, Shishir and Ames, Aaron D. (2012) Achieving bipedal locomotion on rough terrain through human-inspired control; ISBN 978-1-4799-0165-4; 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR); 1-6; 10.1109/SSRR.2012.6523897
Taha, Walid and Brauner, Paul, et el. (2012) A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report); ISBN 9781467314237; 32nd International Conference on Distributed Computing Systems Workshops; 303-308; 10.1109/icdcsw.2012.72
Jiang, Shu and Partrick, Shawanee, et el. (2012) Outputs of human walking for bipedal robotic controller design; ISBN 978-1-4577-1096-4; 2012 American Control Conference (ACC); 4843-4848; 10.1109/ACC.2012.6315648
Yadukumar, Shishir Nadubettu and Kothapalli, Bhargav, et el. (2012) Zeno behavior in electromechanical hybrid systems: From theory to experimental validation; ISBN 978-1-4577-1096-4; 2012 American Control Conference (ACC); 2437-2442; 10.1109/ACC.2012.6315696
Sinnet, Ryan W. and Ames, Aaron D. (2012) Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction; ISBN 978-1-4577-1096-4; 2012 American Control Conference (ACC); 4831-4836; 10.1109/ACC.2012.6315667
Sinnet, Ryan W. and Powell, Matthew J., et el. (2011) Compass gait revisited: A human data perspective with extensions to three dimensions; ISBN 978-1-61284-801-3; 2011 50th IEEE Conference on Decision and Control and European Control Conference; 682-689; 10.1109/CDC.2011.6161473
Wendel, Eric and Ames, Aaron D. (2011) Rank deficiency and superstability of hybrid systems with application to bipedal robots; ISBN 978-1-61284-801-3; 2011 50th IEEE Conference on Decision and Control and European Control Conference; 7422-7427; 10.1109/CDC.2011.6160972
Sinnet, Ryan W. and Zhao, Huihua, et el. (2011) Simulating prosthetic devices with human-inspired hybrid control; ISBN 978-1-61284-456-5; 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems; 1723-1730; 10.1109/IROS.2011.6095186
Or, Yizhar and Ames, Aaron D. (2011) Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems; IEEE Transactions on Automatic Control; Vol. 56; No. 6; 1322-1336; 10.1109/TAC.2010.2080790
Sinnet, Ryan W. and Ames, Aaron D. (2009) 3D bipedal walking with knees and feet: A hybrid geometric approach; ISBN 978-1-4244-3872-3; Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference; 3208-3213; 10.1109/CDC.2009.5400457
Sinnet, Ryan W. and Ames, Aaron D. (2009) 2D bipedal walking with knees and feet: A hybrid control approach; ISBN 978-1-4244-3872-3; Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference; 3200-3207; 10.1109/CDC.2009.5400503
Or, Yizhar and Ames, Aaron D. (2009) Formal and practical completion of Lagrangian hybrid systems; ISBN 978-1-4244-4523-3; American Control Conference, 2009; 3624-3631; 10.1109/ACC.2009.5159852
Or, Yizhar and Ames, Aaron D. (2009) Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems; ISBN 978-3-642-00601-2; Hybrid Systems: Computation and Control 2009; 291-305; 10.1007/978-3-642-00602-9_21
Lamperski, Andrew and Ames, Aaron D. (2008) On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria; ISBN 978-1-4244-3124-3; 47th IEEE Conference on Decision and Control; 2776-2781; 10.1109/CDC.2008.4739100
Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno equilibria in Lagrangian hybrid systems; ISBN 978-1-4244-3124-3; 47th IEEE Conference on Decision and Control; 2770-2775; 10.1109/CDC.2008.4739235
Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno Equilibria in Lagrangian Hybrid Systems
Lamperski, Andrew and Ames, Aaron D. (2008) Sufficient conditions for Zeno behavior in Lagrangian hybrid systems; ISBN 978-3-540-78928-4; Hybrid systems : computation and control : 11th international workshop; 622-625; 10.1007/978-3-540-78929-1_49
Ames, Aaron D. and Doyle, John C. (2008) Complexity and fragility in stability for linear systems; ISBN 978-1-4244-2078-0; 2008 American Control Conference; 1630-1637; 10.1109/ACC.2008.4586725
Lamperski, Andrew and Ames, Aaron D. (2008) Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems; ISBN 978-1-4244-1497-0; 46th IEEE Conference on Decision and Control; 115-120; 10.1109/CDC.2007.4435003
Ames, Aaron D. and Abate, Alessandro, et el. (2008) Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations; ISBN 978-1-4244-1497-0; 46th IEEE Conference on Decision and Control; 5420-5425; 10.1109/CDC.2007.4434891
Ames, Aaron D. and Gregg, Robert D., et el. (2007) A geometric approach to three-dimensional hipped bipedal robotic walking; ISBN 978-1-4244-1497-0; 46th IEEE Conference on Decision and Control; 5348-5355; 10.1109/CDC.2007.4434880
Ames, Aaron D. and Gregg, Robert D. (2007) Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions; ISBN 978-1-4244-0988-4; 2007 American Control Conference; 5658-5664; 10.1109/ACC.2007.4283081
Ganesh, Sumitra and Ames, Aaron D., et el. (2007) Composition of Dynamical Systems for Estimation of Human Body Dynamics; ISBN 978-3-540-71492-7; Hybrid Systems: Computation and Control; 702-705; 10.1007/978-3-540-71493-4_65
Ames, Aaron D. (2007) Homotopy Meaningful Hybrid Model Structures; ISBN 978-0-8218-4246-1; Topology and Robotics; 121-144
Pekarek, David and Ames, Aaron D., et el. (2007) Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped; ISBN 978-1-4244-1497-0; 46th IEEE Conference on Decision and Control; 5376-5382; 10.1109/CDC.2007.4434296
Ames, Aaron D. and Gregg, Robert D., et el. (2007) On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers; ISBN 978-3-540-73889-3; Lagrangian and Hamiltonian Methods for Nonlinear Control 2006; 183-196; 10.1007/978-3-540-73890-9_14
Tabuada, Paulo and Ames, Aaron D., et el. (2006) Approximate Reduction of Dynamical Systems; ISBN 1-4244-0171-2; Proceedings of the 45th IEEE Conference on Decision and Control; 6408-6413; 10.1109/CDC.2006.377156
Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Routhian reduction of Lagrangian hybrid systems; ISBN 1-4244-0209-3; 2006 American Control Conference; 2640-2645; 10.1109/ACC.2006.1656621
Abate, Alessandro and Ames, Aaron D., et el. (2006) A priori detection of Zeno behavior in communication networks modeled as hybrid systems; ISBN 1-4244-0209-3; 2006 American Control Conference; 3340-3345; 10.1109/ACC.2006.1657234
Ames, Aaron D. and Sastry, Shankar (2006) Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry; ISBN 1-4244-0209-3; 2006 American Control Conference; 2646-2651; 10.1109/ACC.2006.1656622
Abate, Alessandro and Ames, Aaron D., et el. (2006) Error bounds based stochastic approximations and simulations of hybrid dynamical systems; ISBN 1-4244-0209-3; 2006 American Control Conference; 4742-4747; 10.1109/ACC.2006.1657470
Ames, Aaron D. and Zheng, Haiyang, et el. (2006) Is there life after Zeno? Taking executions past the breaking (Zeno) point; ISBN 1-4244-0209-3; 2006 American Control Conference; 2652-2657; 10.1109/ACC.2006.1656623
Ames, Aaron D. and Sastry, Shankar (2006) Hybrid Geometric Reduction of Hybrid Systems; ISBN 978-1-4244-0170-3; Proceedings of the 45th IEEE Conference on Decision and Control; 923-929; 10.1109/CDC.2006.377245
Sprinkle, Jonathan and Ames, Aaron D., et el. (2005) On the Partitioning of Syntax and Semantics For Hybrid Systems Tools; ISBN 0-7803-9567-0; Proceedings of the 44th IEEE Conference on Decision and Control; 4694-4699; 10.1109/CDC.2005.1582903
Ames, Aaron D. and Abate, Alessandro, et el. (2005) Sufficient Conditions for the Existence of Zeno Behavior; ISBN 0-7803-9568-9; Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference; 696-701; 10.1109/CDC.2005.1582237
Ames, Aaron D. and Sastry, Shankar (2005) Characterization of Zeno behavior in hybrid systems using homological methods; ISBN 0-7803-9098-9; 2005 American Control Conference; 1160-1165; 10.1109/ACC.2005.1470118
Abate, Alessandro and Ames, Aaron D., et el. (2005) Stochastic approximations of hybrid systems; ISBN 0-7803-9098-9; 2005 American Control Conference; 1557-1562; 10.1109/ACC.2005.1470189
Ames, Aaron D. and Sastry, Shankar (2004) Blowing up affine hybrid systems; ISBN 0-7803-8682-5; 43rd IEEE Conference on Decision and Control; 473-478; 10.1109/CDC.2004.1428675