Azimi, Vahid; Farzan, Siavash et al. (2022) Active space control of underactuated robots: From adaptation to robustness to optimality International Journal of Adaptive Control and Signal Processing; (In Press)
Akella, Prithvi; Ames, Aaron D. (2022) A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems IEEE Robotics and Automation Letters; (In Press)
Singletary, Andrew; Guffey, William et al. (2022) Safety-Critical Manipulation for Collision-Free Food Preparation IEEE Robotics and Automation Letters; Vol. 7; No. 4;
Pandala, Abhishek; Fawcett, Randall T. et al. (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;
Fawcett, Randall T.; Afsari, Kereshmeh et al. (2022) Toward a Data-Driven Template Model for Quadrupedal Locomotion IEEE Robotics and Automation Letters; Vol. 7; No. 3;
Singletary, Andrew; Ahmadi, Mohamadreza et al. (2022) Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions IEEE Control Systems Letters; Vol. 7;
Rosolia, Ugo; Singletary, Andrew et al. (2022) Unified Multi-Rate Control: From Low-Level Actuation to High-Level Planning IEEE Transactions on Automatic Control; (In Press)
Ferraguti, Federica; Talignani Landi, Chiara et al. (2022) Safety and Efficiency in Robotics: The Control Barrier Functions Approach IEEE Robotics and Automation Magazine; (In Press)
Jimenez Rodriguez, Ivan Dario; Csomay-Shanklin, Noel et al. (2022) Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies Proceedings of Machine Learning Research; Vol. 168; 4th Annual Learning for Dynamics and Control Conference, 23-24 June 2022 , Palo Alto, CA
Kamidi, Vinay R.; Kim, Jeeseop et al. (2022) Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots IEEE Control Systems Letters; Vol. 6;
Chen, Yuxiao; Rosolia, Ugo et al. (2022) Interactive Multi-Modal Motion Planning With Branch Model Predictive Control IEEE Robotics and Automation Letters; Vol. 7; No. 2;
Molnár, Tamás G.; Cosner, Ryan K. et al. (2022) Model-Free Safety-Critical Control for Robotic Systems IEEE Robotics and Automation Letters; Vol. 7; No. 2;
Li, Kejun; Tucker, Maegan et al. (2022) Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics IEEE Robotics and Automation Letters; Vol. 7; No. 2;
Singletary, Andrew; Swann, Aiden et al. (2022) Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions IEEE Robotics and Automation Letters; Vol. 7; No. 2;
Gehlhar, Rachel; Yang, Je-han et al. (2022) Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control with Real-Time Force Sensing IEEE Robotics and Automation Letters; Vol. 7; No. 2;
Xiong, Xiaobin; Ames, Aaron (2022) 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization IEEE Transactions on Robotics; (In Press)
Jimenez Rodriguez, Ivan Dario; Ames, Aaron D. et al. (2022) LyaNet: A Lyapunov Framework for Training Neural ODEs Proceedings of Machine Learning Research; International Conference on Machine Learning (ICML), 17-23 July 2022 , Baltimore, MD
Rosolia, Ugo; Ames, Aaron D. (2022) Iterative Model Predictive Control for Piecewise Systems IEEE Control Systems Letters; Vol. 6;
Garg, Kunal; Cosner, Ryan K. et al. (2022) Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions IEEE Control Systems Letters; Vol. 6;
Ahmadi, Mohamadreza; Xiong, Xiaobin et al. (2022) Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion IEEE Control Systems Letters; Vol. 6;
Alan, Anil; Taylor, Andrew J. et al. (2022) Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions IEEE Control Systems Letters; Vol. 6;
Singletary, Andrew; Kolathaya, Shishir et al. (2022) Safety-Critical Kinematic Control of Robotic Systems IEEE Control Systems Letters; Vol. 6;
Taylor, Andrew J.; Dorobantu, Victor D. et al. (2022) Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs IEEE Control Systems Letters; Vol. 6;
Fawcett, Randall T.; Pandala, Abhishek et al. (2021) Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers IEEE Control Systems Letters; Vol. 6;
Folkestad, Carl; Chen, Yuxiao et al. (2021) Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators IEEE Control Systems Letters; Vol. 5; No. 6;
Chen, Yuxiao; Santillo, Mario et al. (2021) Online Decentralized Decision Making With Inequality Constraints: An ADMM approach IEEE Control Systems Letters; Vol. 5; No. 6;
Molnár, Tamás G.; Singletary, Andrew W. et al. (2021) Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays IEEE Control Systems Letters; Vol. 5; No. 5;
Sun, Yu; Ubellacker, Wyatt L. et al. (2021) Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion IEEE Robotics and Automation Letters; Vol. 6; No. 4;
Westenbroek, Tyler; Xiong, Xiaobin et al. (2021) Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking IFAC-PapersOnLine; Vol. 54; No. 5; 7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, 7-9 July 2021 , Brussels, Belgium
Kerdraon, Jacques; Previnaire, Jean Gabriel et al. (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;
Taylor, Andrew J.; Singletary, Andrew et al. (2021) A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety IEEE Control Systems Letters; Vol. 5; No. 3;
Ma, Wen-Loong; Csomay-Shanklin, Noel et al. (2021) Coupled Control Systems: Periodic Orbit Generation with Application to Quadrupedal Locomotion IEEE Control Systems Letters; Vol. 5; No. 3;
Chen, Yuxiao; Rosolia, Ugo et al. (2021) Decentralized Task and Path Planning for Multi-Robot Systems IEEE Robotics and Automation Letters; Vol. 6; No. 3;
Ames, Aaron D.; Notomista, Gennaro et al. (2021) Integral Control Barrier Functions for Dynamically Defined Control Laws IEEE Control Systems Letters; Vol. 5; No. 3;
Chang, Alexander H.; Hubicki, Christian M. et al. (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;
Rosolia, Ugo; 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;
Taylor, Andrew J.; Ong, Pio et al. (2021) Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions IEEE Control Systems Letters; Vol. 5; No. 3;
Csomay-Shanklin, Noel; Cosner, Ryan K. et al. (2021) Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety Proceedings of Machine Learning Research; Vol. 144; Proceedings of the 3rd Conference on Learning for Dynamics and Control, 7-8 June 2021 , [Online Only]
Konda, Rohit; Ames, Aaron D. et al. (2021) Characterizing Safety: Minimal Control Barrier Functions from Scalar Comparison Systems IEEE Control Systems Letters; Vol. 5; No. 2;
Ma, Wen-Loong; Csomay-Shanklin, Noel et al. (2021) Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion IEEE Robotics and Automation Letters; Vol. 6; No. 2;
Xiong, Xiaobin; Ames, Aaron (2021) SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program IEEE Robotics and Automation Letters; Vol. 6; No. 2;
Gehlhar, Rachel; Ames, Aaron D. (2021) Separable Control Lyapunov Functions with Application to Prostheses IEEE Control Systems Letters; Vol. 5; No. 2;
Chen, Yuxiao; Anderson, James et al. (2021) Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts IEEE Transactions on Control of Network Systems; Vol. 8; No. 1;
Azimi, Vahid; Shu, Tony et al. (2021) Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments IEEE Transactions on Systems, Man, and Cybernetics: Systems; Vol. 51; No. 2;
Chen, Yuxiao; Singletary, Andrew et al. (2021) Guaranteed obstacle avoidance for multi-robot operations with limited actuation: a control barrier function approach IEEE Control Systems Letters; Vol. 5; No. 1;
Akbari Hamed, Kaveh; Ames, Aaron D. (2020) Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking IEEE Transactions on Control Systems Technology; Vol. 28; No. 6;
Ames, Aaron D.; Molnár, Tamás G. et al. (2020) Safety-Critical Control of Active Interventions for COVID-19 Mitigation IEEE Access; Vol. 8;
Ibuki, Tatsuya; Wilson, Sean et al. (2020) Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach IEEE Control Systems Letters; Vol. 4; No. 4;
Xiong, Xiaobin; Ames, Aaron D. (2020) Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping IEEE Robotics and Automation Letters; Vol. 5; No. 4;
Gurriet, Thomas; Mote, Mark et al. (2020) A Scalable Safety Critical Control Framework for Nonlinear Systems IEEE Access; Vol. 8;
Taylor, Andrew J.; Singletary, Andrew et al. (2020) Learning for Safety-Critical Control with Control Barrier Functions Proceedings of Machine Learning Research; Vol. 120; 2nd Annual Conference on Learning for Dynamics and Control, 10-11 June 2020 , [Online Only]
Yu, You; Nassar, Joanna et al. (2020) Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces Science Robotics; Vol. 5; No. 41;
Akbari Hamed, Kaveh; Kamidi, Vinay R. et al. (2020) Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach IEEE Robotics and Automation Letters; Vol. 5; No. 1;
Gurriet, Thomas; Tucker, Maegan et al. (2020) Towards Variable Assistance for Lower Body Exoskeletons IEEE Robotics and Automation Letters; Vol. 5; No. 1;
Kolathaya, Shishir; Ames, Aaron D. (2019) Input-to-State Safety with Control Barrier Functions IEEE Control Systems Letters; Vol. 3; No. 1;
Harib, Omar; Hereid, Ayonga et al. (2018) Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking IEEE Control Systems Magazine; Vol. 38; No. 6;
Kolathaya, Shishir; Guffey, William et al. (2018) Direct Collocation for Dynamic Behaviors with Nonprehensile Contacts: Application to Flipping Burgers IEEE Robotics and Automation Letters; Vol. 3; No. 4;
Haesaert, S.; Nilsson, P. et al. (2018) Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations IFAC-PapersOnLine; Vol. 51; No. 16;
Xu, Xiangru; Grizzle, Jessy W. et al. (2018) Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control IEEE Transactions on Automation Science and Engineering; Vol. 15; No. 3;
Hereid, Ayonga; Hubicki, Christian M. et al. (2018) Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization IEEE Transactions on Robotics; Vol. 34; No. 2;
Hussien, Omar; Ames, Aaron et al. (2017) Abstracting Partially Feedback Linearizable Systems Compositionally IEEE Control Systems Letters; Vol. 1; No. 2;
Ames, Aaron D.; Xu, Xiangru et al. (2017) Control Barrier Function Based Quadratic Programs for Safety Critical Systems IEEE Transactions on Automatic Control; Vol. 62; No. 8;
Ames, Aaron D.; Tabuada, Paulo et al. (2017) First steps toward formal controller synthesis for bipedal robots with experimental implementation Nonlinear Analysis: Hybrid Systems; Vol. 25;
Wang, Li; Ames, Aaron D. et al. (2017) Safety Barrier Certificates for Collisions-Free Multirobot Systems IEEE Transactions on Robotics; Vol. 33; No. 3;
Zhao, Huihua; Hereid, Ayonga et al. (2017) Multi-contact bipedal robotic locomotion Robotica; Vol. 35; No. 5;
Agrawal, Ayush; Harib, Omar et al. (2017) First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons IEEE Access; Vol. 5;
Zhao, Huihua; Horn, Jonathan et al. (2017) First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach Autonomous Robots; Vol. 41; No. 3;
Nilsson, Petter; Hussien, Omar et al. (2016) Correct-by-Construction Adaptive Cruise Control: Two Approaches IEEE Transactions on Control Systems Technology; Vol. 24; No. 4;
Zhao, Huihua; Horner, Jonathan et al. (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;
Xu, Xiangru; Tabuada, Paulo et al. (2015) Robustness of Control Barrier Functions for Safety Critical Control IFAC-PapersOnLine; Vol. 48; No. 27; Analysis and Design of Hybrid Systems ADHS, 14-16 October 2015 , Atlanta, GA
Or, Yizhar; Ames, Aaron D. (2011) Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems IEEE Transactions on Automatic Control; Vol. 56; No. 6;