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
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• 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
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• 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
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• 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
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• 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
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• 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
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• 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
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• 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
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• 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
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• 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
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• 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