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ORCIDAaron D. Ames
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- affiliation: California Institute of Technology, Pasadena, CA, USA
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2020 – today
- 2024
[j95]Prithvi Akella
, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames:
Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification. Artif. Intell. 336: 104195 (2024)- [j94]Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Safety-critical control for autonomous systems: Control barrier functions via reduced-order models. Annu. Rev. Control. 57: 100947 (2024) - [j93]Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray:
Layered Control Systems Operating on Multiple Clocks. IEEE Control. Syst. Lett. 8: 1211-1216 (2024) - [j92]Ersin Das, Aaron D. Ames, Joel W. Burdick:
Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. IEEE Control. Syst. Lett. 8: 1727-1732 (2024) - [j91]Ryan K. Cosner, Preston Culbertson, Aaron D. Ames:
Bounding Stochastic Safety: Leveraging Freedman's Inequality With Discrete-Time Control Barrier Functions. IEEE Control. Syst. Lett. 8: 1937-1942 (2024) - [j90]Max H. Cohen, Ryan K. Cosner, Aaron D. Ames:
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. IEEE Control. Syst. Lett. 8: 2229-2234 (2024) - [j89]Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Rectified Control Barrier Functions for High-Order Safety Constraints. IEEE Control. Syst. Lett. 8: 2949-2954 (2024) - [j88]Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames:
Risk-Averse Decision Making Under Uncertainty. IEEE Trans. Autom. Control. 69(1): 55-68 (2024) - [c259]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. ACC 2024: 394-401 - [c258]Min Dai, Jaemin Lee, Aaron D. Ames:
Multi-Domain Walking with Reduced-Order Models of Locomotion. ACC 2024: 2830-2837 - [c257]Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pattersen:
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. ACC 2024: 3152-3159 - [c256]Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion. ACC 2024: 3383-3390 - [c255]Lorenzo Sforni, Giuseppe Notarstefano, Aaron D. Ames:
Receding Horizon CBF-Based Multi-Layer Controllers for Safe Trajectory Generation. ACC 2024: 4765-4770 - [c254]Gilbert Bahati, Pio Ong, Aaron D. Ames:
Sample-and-Hold Safety with Control Barrier Functions. ACC 2024: 5169-5176 - [c253]Yitaek Kim, Jeeseop Kim, Aaron D. Ames, Christoffer Sloth:
Robust Safety-Critical Control for Input-Delayed System with Delay Estimation. ECC 2024: 2218-2223 - [c252]Maegan Tucker, Kejun Li, Aaron D. Ames:
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. ICRA 2024: 1136-1142 - [c251]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. ICRA 2024: 3478-3484 - [c250]Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames:
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. ICRA 2024: 3485-3491 - [c249]Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames:
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. ICRA 2024: i-viii - [c248]Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames:
Data-Driven Predictive Control for Robust Exoskeleton Locomotion. IROS 2024: 162-169 - [c247]Albert H. Li, Preston Culbertson, Aaron D. Ames:
Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. IROS 2024: 2992-2999 - [c246]Wyatt Ubellacker, Aaron D. Ames:
Learned Regions of Attraction for Safe Motion Primitive Transitions. IROS 2024: 3643-3650 - [c245]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. IROS 2024: 9094-9101 - [c244]Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames:
Robust Agility via Learned Zero Dynamics Policies. IROS 2024: 9116-9123 - [c243]Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames:
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. IROS 2024: 12686-12693 - [i201]Nikolai Matni, Aaron D. Ames, John C. Doyle:
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control. CoRR abs/2401.15185 (2024) - [i200]Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray:
Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks. CoRR abs/2402.11666 (2024) - [i199]Tamás G. Molnár, Suresh K. Kannan, James Cunningham, Kyle Dunlap, Kerianne L. Hobbs, Aaron D. Ames:
Collision Avoidance and Geofencing for Fixed-wing Aircraft with Control Barrier Functions. CoRR abs/2403.02508 (2024) - [i198]Ryan K. Cosner, Preston Culbertson, Aaron D. Ames:
Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions. CoRR abs/2403.05745 (2024) - [i197]Albert H. Li, Preston Culbertson, Aaron D. Ames:
Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. CoRR abs/2403.07249 (2024) - [i196]Ersin Das, Aaron D. Ames, Joel W. Burdick:
Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. CoRR abs/2403.08916 (2024) - [i195]Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models. CoRR abs/2403.09865 (2024) - [i194]Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames:
Data-Driven Predictive Control for Robust Exoskeleton Locomotion. CoRR abs/2403.15658 (2024) - [i193]Devansh R. Agrawal, Hardik Parwana, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou:
A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. CoRR abs/2403.18015 (2024) - [i192]Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Lars Lindemann, Margaret P. Chapman, George J. Pappas, Aaron D. Ames, Joel W. Burdick:
Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification. CoRR abs/2403.18972 (2024) - [i191]Josefine B. Graebener, Apurva S. Badithela, Denizalp Goktas, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications. CoRR abs/2404.09888 (2024) - [i190]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. CoRR abs/2404.10938 (2024) - [i189]Max H. Cohen, Ryan K. Cosner, Aaron D. Ames:
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. CoRR abs/2406.02709 (2024) - [i188]Adrian B. Ghansah, Jeeseop Kim, Kejun Li, Aaron D. Ames:
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. CoRR abs/2406.13115 (2024) - [i187]Raul Astudillo, Kejun Li, Maegan Tucker, Chu Xin Cheng, Aaron D. Ames, Yisong Yue:
Preferential Multi-Objective Bayesian Optimization. CoRR abs/2406.14699 (2024) - [i186]William D. Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames:
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. CoRR abs/2408.14749 (2024) - [i185]Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames:
Robust Agility via Learned Zero Dynamics Policies. CoRR abs/2409.06125 (2024) - [i184]Xiao Tan, Pio Ong, Paulo Tabuada, Aaron D. Ames:
Safety of Linear Systems under Severe Sensor Attacks. CoRR abs/2409.08413 (2024) - [i183]Pio Ong, Manuel Mazo Jr., Aaron D. Ames:
Hierarchical Event-Triggered Systems: Safe Learning of Quasi-Optimal Deadline Policies. CoRR abs/2409.09812 (2024) - [i182]Jaemin Lee, Min Dai, Jeeseop Kim, Aaron D. Ames:
Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination. CoRR abs/2409.10274 (2024) - [i181]Zachary Olkin, Aaron D. Ames:
Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation. CoRR abs/2409.12366 (2024) - [i180]Albert H. Li, Preston Culbertson, Vince Kurtz, Aaron D. Ames:
DROP: Dexterous Reorientation via Online Planning. CoRR abs/2409.14562 (2024) - [i179]Manuel Mazo Jr., William D. Compton, Max H. Cohen, Aaron D. Ames:
A Contract Theory for Layered Control Architectures. CoRR abs/2409.14902 (2024) - [i178]Tyler Ga Wei Lum, Albert H. Li, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, Jeannette Bohg:
Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. CoRR abs/2410.23701 (2024) - [i177]Yitaek Kim, Jeeseop Kim, Albert H. Li, Aaron D. Ames, Christoffer Sloth:
Robust Adaptive Safe Robotic Grasping with Tactile Sensing. CoRR abs/2411.07833 (2024) - [i176]Noel Csomay-Shanklin, Aaron D. Ames:
Bezier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures. CoRR abs/2411.13506 (2024) - [i175]Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames:
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes. CoRR abs/2411.13507 (2024) - [i174]William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames:
Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. CoRR abs/2411.15350 (2024) - [i173]Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Controller Synthesis with Reduced-Order Models. CoRR abs/2411.16479 (2024) - [i172]Xiao Tan, Ersin Das, Aaron D. Ames, Joel W. Burdick:
Zero-order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints. CoRR abs/2411.17079 (2024) - [i171]Yitaek Kim, Ersin Das, Jeeseop Kim, Aaron D. Ames, Joel W. Burdick, Christoffer Sloth:
Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation. CoRR abs/2411.17277 (2024) - [i170]Pio Ong, Max H. Cohen, Tamás G. Molnár, Aaron D. Ames:
Rectified Control Barrier Functions for High-Order Safety Constraints. CoRR abs/2412.03708 (2024) - [i169]William D. Compton, Max H. Cohen, Aaron D. Ames:
Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions. CoRR abs/2412.04658 (2024) - 2023
- [j87]Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach. IEEE Access 11: 128369-128382 (2023) - [j86]Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames:
A review of current state-of-the-art control methods for lower-limb powered prostheses. Annu. Rev. Control. 55: 142-164 (2023) - [j85]Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames:
Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions. IEEE Control. Syst. Lett. 7: 349-354 (2023) - [j84]Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz:
Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions. IEEE Control. Syst. Lett. 7: 1123-1128 (2023) - [j83]Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Parameterized Barrier Functions to Guarantee Safety Under Uncertainty. IEEE Control. Syst. Lett. 7: 2077-2082 (2023) - [j82]Maegan Tucker, Aaron D. Ames:
An Input-to-State Stability Perspective on Robust Locomotion. IEEE Control. Syst. Lett. 7: 2599-2604 (2023) - [j81]Tamás G. Molnár, Aaron D. Ames:
Composing Control Barrier Functions for Complex Safety Specifications. IEEE Control. Syst. Lett. 7: 3615-3620 (2023) - [j80]Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames:
Characterizing Smooth Safety Filters via the Implicit Function Theorem. IEEE Control. Syst. Lett. 7: 3890-3895 (2023) - [j79]Ugo Rosolia, Yuxiao Chen, Shreyansh Daftry, Masahiro Ono, Yisong Yue, Aaron D. Ames:
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms. IEEE Trans. Autom. Control. 68(7): 4435-4442 (2023) - [j78]Tamás G. Molnár, Adam K. Kiss, Aaron D. Ames, Gábor Orosz:
Safety-Critical Control With Input Delay in Dynamic Environment. IEEE Trans. Control. Syst. Technol. 31(4): 1507-1520 (2023) - [j77]Anil Alan, Andrew J. Taylor, Chaozhe R. He, Aaron D. Ames, Gábor Orosz:
Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles. IEEE Trans. Control. Syst. Technol. 31(6): 2744-2759 (2023) - [j76]Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed:
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. IEEE Trans. Robotics 39(6): 4728-4748 (2023) - [c242]Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control with Bounded Inputs via Reduced Order Models. ACC 2023: 1414-1421 - [c241]Prithvi Akella, Aaron D. Ames:
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CDC 2023: 79-85 - [c240]Pio Ong, Aaron D. Ames:
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CDC 2023: 870-877 - [c239]Tamás G. Molnár, Gábor Orosz, Aaron D. Ames:
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CDC 2023: 1106-1111 - [c238]Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames:
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CDC 2023: 1879-1885 - [c237]Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff:
Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces. CDC 2023: 4372-4378 - [c236]Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames:
Input-to-State Stability in Probability. CDC 2023: 5796-5803 - [c235]Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames:
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. ICRA 2023: 1386-1392 - [c234]Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed:
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. ICRA 2023: 9924-9930 - [c233]Rachel Gehlhar, Aaron D. Ames:
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. ICRA 2023: 10429-10435 - [c232]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Safety-Critical Controller Verification via Sim2Real Gap Quantification. ICRA 2023: 10539-10545 - [c231]Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames:
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. ICRA 2023: 12106-12112 - [c230]Wyatt Ubellacker, Aaron D. Ames:
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. ICRA 2023: 12142-12148 - [c229]Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames:
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. ICRA 2023: 12218-12225 - [c228]Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. ICRA 2023: 12430-12436 - [c227]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. IROS 2023: 2368-2375 - [c226]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. IROS 2023: 2384-2391 - [c225]Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames:
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. IROS 2023: 6809-6816 - [c224]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. IROS 2023: 8120-8126 - [c223]Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames:
Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. IROS 2023: 8574-8581 - [c222]Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames:
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. L4DC 2023: 665-678 - [c221]Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames:
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. Robotics: Science and Systems 2023 - [i168]Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames:
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. CoRR abs/2301.09622 (2023) - [i167]Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames:
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. CoRR abs/2302.07469 (2023) - [i166]Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames:
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. CoRR abs/2302.13687 (2023) - [i165]Tamás G. Molnár, Aaron D. Ames:
Safety-Critical Control with Bounded Inputs via Reduced Order Models. CoRR abs/2303.03247 (2023) - [i164]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. CoRR abs/2303.06258 (2023) - [i163]Maegan Tucker, Aaron D. Ames:
An Input-to-State Stability Perspective on Robust Locomotion. CoRR abs/2303.10231 (2023) - [i162]Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz:
Parameterized Barrier Functions to Guarantee Safety under Uncertainty. CoRR abs/2303.11385 (2023) - [i161]Jeeseop Kim, Jaemin Lee, Aaron D. Ames:
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. CoRR abs/2303.13630 (2023) - [i160]Prithvi Akella, Aaron D. Ames:
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CoRR abs/2304.03739 (2023) - [i159]Prithvi Akella, Apurva Badithela, Richard M. Murray, Aaron D. Ames:
Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration. CoRR abs/2304.03849 (2023) - [i158]Pio Ong, Aaron D. Ames:
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CoRR abs/2304.08684 (2023) - [i157]Gilbert Bahati, Pio Ong, Aaron D. Ames:
Violation-Free Inter-Sampling Safety: from Control Barrier Functions to Tunable Controllers with Input-to-State Safety Guarantees. CoRR abs/2304.08685 (2023) - [i156]Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames:
Input-to-State Stability in Probability. CoRR abs/2304.14578 (2023) - [i155]Jaemin Lee, Jeeseop Kim, Aaron D. Ames:
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. CoRR abs/2305.03929 (2023) - [i154]Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames:
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CoRR abs/2308.10962 (2023) - [i153]Tamás G. Molnár, Gábor Orosz, Aaron D. Ames:
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CoRR abs/2309.00074 (2023) - [i152]Tamás G. Molnár, Aaron D. Ames:
Composing Control Barrier Functions for Complex Safety Specifications. CoRR abs/2309.06647 (2023) - [i151]Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames:
Characterizing Smooth Safety Filters via the Implicit Function Theorem. CoRR abs/2309.12614 (2023) - [i150]Albert H. Li, Preston Culbertson, Aaron D. Ames:
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability. CoRR abs/2309.16930 (2023) - [i149]Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen:
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles. CoRR abs/2310.00713 (2023) - [i148]Min Dai, Jaemin Lee, Aaron D. Ames:
Multi-Domain Walking with Reduced-Order Models of Locomotion. CoRR abs/2310.03179 (2023) - [i147]