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    title ="Backup Control Barrier Functions: Formulation and Comparative Study",
    author = "Chen, Yuxiao and Jankovic, Mrdjan and Santillo, Mario and Ames, Aaron D.",
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    pages = "6835-6841",
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    title ="Estimate-to-State Stability for Hybrid Human-Prosthesis Systems",
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    pages = "705-712",
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    title ="Risk-Averse Stochastic Shortest Path Planning",
    author = "Ahmadi, Mohamadreza and Dixit, Anushri and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "5199-5204",
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    title ="Time-Optimal Navigation in Uncertain Environments with High-Level Specifications",
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    title ="Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty",
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    title ="Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control",
    author = "Jimenez Rodriguez, Ivan D. and Rosolia, Ugo and Ames, Aaron D. and Yue, Yisong",
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    title ="Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State",
    author = "Cosner, Ryan K. and Singletary, Andrew W. and Taylor, Andrew J. and Molnar, Tamás G. and Bouman, Katherine L. and Ames, Aaron D.",
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    title ="Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots",
    author = "Ubellacker, Wyatt and Csomay-Shanklin, Noel and Molnár, Tamás G. and Ames, Aaron D.",
    
    
    
    pages = "8477-8484",
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    title ="Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots",
    author = "Tucker, Maegan and Csomay-Shanklin, Noel and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2804-2810",
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    title ="ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes",
    author = "Li, Kejun and Tucker, Maegan and Bıyık, Erdem and Novoseller, Ellen and Burdick, Joel W. and Sui, Yanan and Sadigh, Dorsa and Yue, Yisong and Ames, Aaron D.",
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    title ="Constrained Risk-Averse Markov Decision Processes",
    author = "Ahmadi, Mohamadreza and Rosolia, Ugo and Ingham, Michel D. and Murray, Richard M. and Ames, Aaron D.",
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    title ="Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation",
    author = "Maghenem, Mohamed and Taylor, Andrew J. and Ames, Aaron D. and Sanfelice, Ricardo G.",
    
    
    
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    title ="Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach",
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    pages = "1058-1063",
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    title ="Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning",
    author = "Xiong, Xiaobin and Reher, Jenna and Ames, Aaron D.",
    
    
    
    pages = "2825-2831",
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    title ="Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking",
    author = "Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2040-2047",
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    title ="Model-Dependent Prosthesis Control with Interaction Force Estimation",
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    pages = "3226-3232",
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    title ="Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control",
    author = "Grandia, Ruben and Taylor, Andrew J. and Ames, Aaron D. and Hutter, Marco",
    journal = "arXiv",
    
    
    pages = "8352-8358",
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    title ="Online decentralized decision making with inequality constraints: An ADMM approach",
    author = "Chen, Yuxiao and Santillo, Mario and Jankovic, Mrdjan and Ames, Aaron D.",
    
    
    
    pages = "2075-2081",
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    title ="Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays",
    author = "Molnár, Tamás G. and Singletary, Andrew W. and Orosz, Gábor and Ames, Aaron D.",
    
    
    
    pages = "1052-1057",
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    title ="Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots",
    author = "Ambrose, Eric and Ma, Wen-Loong and Ames, Aaron D.",
    
    
    
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    month = "May",
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    title ="ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions",
    author = "Thananjeyan, Brijen and Balakrishna, Ashwin and Rosolia, Ugo and Gonzalez, Joseph E. and Ames, Aaron and Goldberg, Ken",
    
    
    number = "17",
    pages = "1-17",
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    title ="Barrier Functions for Multiagent-POMDPs with DTL Specifications",
    author = "Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "1380-1385",
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    doi = "https://doi.org/10.1109/CDC42340.2020.9304266",
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    title ="Control Barrier Functions for Sampled-Data Systems with Input Delays",
    author = "Singletary, Andrew and Chen, Yuxiao and Ames, Aaron D.",
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    pages = "804-809",
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    doi = "https://doi.org/10.1109/CDC42340.2020.9304281",
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    title ="Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions",
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    pages = "790-795",
    month = "December",
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    doi = "https://doi.org/10.1109/CDC42340.2020.9303776",
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    pages = "777-783",
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    year = "2020",
    doi = "https://doi.org/10.1109/CDC42340.2020.9304395",
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    title ="Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses",
    author = "Gehlhar, Rachel and Chen, Yuxiao and Ames, Aaron D.",
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    pages = "4126-4133",
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    doi = "https://doi.org/10.1109/IROS45743.2020.9341388",
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    pages = "7027-7033",
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    author = "Tucker, Maegan and Cheng, Myra and Novoseller, Ellen and Cheng, Richard and Yue, Yisong and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3423-3430",
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    doi = "https://doi.org/10.1109/IROS45743.2020.9341416",
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    title ="Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots",
    author = "Ma, Wen-Loong and Csomay-Shanklin, Noel and Ames, Aaron D.",
    
    
    
    pages = "4006-4011",
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    doi = "https://doi.org/10.1109/IROS45743.2020.9341181",
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    title ="Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3510-3517",
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    doi = "https://doi.org/10.1109/IROS45743.2020.9341467",
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    title ="From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation",
    author = "Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4491-4497",
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    doi = "https://doi.org/10.1109/ICRA40945.2020.9196841",
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    title ="Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity",
    author = "Ambrose, Eric and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2457-2463",
    month = "August",
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    title ="Passive Dynamic Balancing and Walking in Actuated Environments",
    author = "Reher, Jenna and Csomay-Shanklin, Noel and Christensen, David L. and Bristow, Bobby and Ames, Aaron D. and Smoot, Lanny",
    
    
    
    pages = "9775-9781",
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    doi = "https://doi.org/10.1109/icra40945.2020.9197400",
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    title ="Preference-Based Learning for Exoskeleton Gait Optimization",
    author = "Tucker, Maegan and Novoseller, Ellen and Kann, Claudia and Sui, Yanan and Yue, Yisong and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2351-2357",
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    title ="Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator",
    author = "Gao, Chang and Gehlhar, Rachel and Ames, Aaron D. and Liu, Shih-Chii and Delbrück, Tobi",
    journal = "arXiv",
    
    
    pages = "5460-5466",
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    doi = "https://doi.org/10.1109/icra40945.2020.9196984",
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    author = "Singletary, Andrew and Gurriet, Thomas and Nilsson, Petter and Ames, Aaron D.",
    
    
    
    pages = "10270-10276",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104667,
    title ="Adaptive Safety with Control Barrier Functions",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100585,
    title ="An Inverse Dynamics Approach to Control Lyapunov Functions",
    author = "Reher, Jenna and Kann, Claudia and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2444-2451",
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    year = "2020",
    doi = "https://doi.org/10.23919/ACC45564.2020.9147342",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/104664,
    title ="Density Functions for Guaranteed Safety on Robotic Systems",
    author = "Chen, Yuxiao and Singletary, Andrew W. and Ames, Aaron D.",
    
    
    
    pages = "3199-3204",
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    title ="Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach",
    author = "Akbari Hamed, Kaveh and Kamidi, Vinay R. and Pandala, Abhishek and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "5314-5321",
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    year = "2020",
    doi = "https://doi.org/10.23919/ACC45564.2020.9147673",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190626-092917746",
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    title ="Invariant Sets for Integrators and Quadrotor Obstacle Avoidance",
    author = "Doeser, Ludvig and Nilsson, Petter and Ames, Aaron D. and Murray, Richard M.",
    
    
    
    pages = "3814-3821",
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    doi = "https://doi.org/10.23919/acc45564.2020.9147872",
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    title ="Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs",
    author = "Nilsson, Petter and Ames, Aaron D.",
    
    
    
    pages = "5175-5181",
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    doi = "https://doi.org/10.23919/acc45564.2020.9147414",
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    title ="Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions",
    author = "Grandia, Ruben and Taylor, Andrew J. and Singletary, Andrew and Hutter, Marco and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "Art. No. 098",
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    title ="On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction",
    author = "Pandey, Ayush and Ames, Aaron D.",
    
    
    
    pages = "3763-3769",
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    doi = "https://doi.org/10.23919/acc45564.2020.9147709",
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    title ="Optimal Safe Controller Synthesis: A Density Function Approach",
    author = "Chen, Yuxiao and Ahmadi, Mohamadreza and Ames, Aaron D.",
    
    
    
    pages = "5407-5412",
    month = "July",
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    title ="Risk-Averse Planning Under Uncertainty",
    author = "Ahmadi, Mohamadreza and Ono, Masahiro and Ingham, Michel D. and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3305-3312",
    month = "July",
    year = "2020",
    doi = "https://doi.org/10.23919/ACC45564.2020.9147792",
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    title ="Partially Observable Games for Secure Autonomy",
    author = "Ahmadi, Mohamadreza and Viswanathan, Arun A. and Ingham, Michel D. and Tan, Kymie and Ames, Aaron D.",
    
    
    
    pages = "185-188",
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    doi = "https://doi.org/10.1109/spw50608.2020.00046",
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    title ="Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS",
    author = "Reher, Jacob P. and Hereid, Ayonga and Kolathaya, Shishir and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    number = "13",
    pages = "400-415",
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    doi = "https://doi.org/10.1007/978-3-030-43089-4_26",
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    title ="Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems",
    author = "Klaesson, Filip and Nilsson, Petter and Ames, Aaron D. and Murray, Richard M.",
    journal = "arXiv",
    
    
    pages = "196-205",
    month = "April",
    year = "2020",
    doi = "https://doi.org/10.1109/ICCPS48487.2020.00031",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-092058249",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94190,
    title ="A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Krishnamoorthy, Meera and Le, Hoang M. and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "1448-1455",
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    year = "2019",
    doi = "https://doi.org/10.1109/CDC40024.2019.9029226",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/105440,
    title ="A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees",
    author = "Gurriet, Thomas and Mote, Mark and Singletary, Andrew and Feron, Eric and Ames, Aaron D.",
    
    
    
    pages = "2046-2053",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/cdc40024.2019.9030159",
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    title ="Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations",
    author = "Westenbroek, Tyler and Xiong, Xiaobin and Ames, Aaron D. and Sastry, S. Shankar",
    journal = "arXiv",
    
    
    pages = "3046-3053",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/CDC40024.2019.9029232",
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    title ="Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots",
    author = "Murali, Vishal and Ames, Aaron D. and Verriest, Erik I.",
    
    
    
    pages = "6295-6300",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/cdc40024.2019.9029348",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200911-133138878",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94638,
    title ="Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions",
    author = "Ahmadi, Mohamadreza and Singletary, Andrew and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4797-4803",
    month = "December",
    year = "2019",
    doi = "https://doi.org/10.1109/CDC40024.2019.9030241",
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    title ="Design and Comparative Analysis of 1D Hopping Robots",
    author = "Ambrose, Eric and Csomay-Shanklin, Noel and Or, Yizhar and Ames, Aaron",
    
    
    
    pages = "5717-5724",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8967692",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-082906308",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94189,
    title ="Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Le, Hoang M. and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "6878-6884",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8967820",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99874,
    title ="First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach",
    author = "Ma, Wen-Loong and Akbari Hamed, Kaveh and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "5498-5503",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8968189",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101023,
    title ="Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    
    
    
    pages = "1018-1024",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/iros40897.2019.8968215",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200131-080909173",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101028,
    title ="Online Active Safety for Robotic Manipulators",
    author = "Singletary, Andrew and Nilsson, Petter and Gurriet, Thomas and Ames, Aaron D.",
    
    
    
    pages = "173-178",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8968231",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101024,
    title ="Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    
    
    
    pages = "4644-4651",
    month = "November",
    year = "2019",
    doi = "https://doi.org/10.1109/IROS40897.2019.8968162",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92573,
    title ="Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts",
    author = "Chen, Yuxiao and Anderson, James and Kalsi, Karan and Low, Steven H. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "1027-1034",
    month = "July",
    year = "2019",
    doi = "https://doi.org/10.23919/ACC.2019.8814437",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92572,
    title ="Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers",
    author = "Akbari Hamed, Kaveh and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "4588-4595",
    month = "July",
    year = "2019",
    
    isbn = "978-1-5386-7926-5",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/98439,
    title ="Realizable Set Invariance Conditions for Cyber-Physical Systems",
    author = "Gurriet, Thomas and Nilsson, Petter and Singletary, Andrew and Ames, Aaron D.",
    
    
    
    pages = "3642-3649",
    month = "July",
    year = "2019",
    doi = "https://doi.org/10.23919/ACC.2019.8815332",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/98442,
    title ="Safety Functionals for Time Delay Systems",
    author = "Orosz, Gábor and Ames, Aaron D.",
    
    
    
    pages = "4374-4379",
    month = "July",
    year = "2019",
    
    isbn = "978-1-5386-7926-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190905-145103093",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94624,
    title ="Control Barrier Functions: Theory and Applications",
    author = "Ames, Aaron D. and Coogan, Samuel and Egerstedt, Magnus and Notomista, Gennaro and Sreenath, Koushil and Tabuada, Paulo",
    journal = "arXiv",
    
    
    pages = "3420-3431",
    month = "June",
    year = "2019",
    doi = "https://doi.org/10.23919/ECC.2019.8796030",
    isbn = "978-3-907144-00-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190410-120602158",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/96718,
    title ="Dynamic Walking with Compliance on a Cassie Bipedal Robot",
    author = "Reher, Jacob and Ma, Wen-Loong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "2589-2595",
    month = "June",
    year = "2019",
    doi = "https://doi.org/10.23919/ECC.2019.8796090",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92574,
    title ="Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage",
    author = "Ma, Wen-Loong and Or, Yizhar and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3705-3711",
    month = "May",
    year = "2019",
    doi = "https://doi.org/10.1109/ICRA.2019.8793761",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97925,
    title ="Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping",
    author = "Chang, Alexander H. and Hubicki, Christian and Ames, Aaron and Vela, Patricio A.",
    
    
    
    pages = "3188-3194",
    month = "May",
    year = "2019",
    doi = "https://doi.org/10.1109/ICRA.2019.8793757",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92579,
    title ="An Online Approach to Active Set Invariance",
    author = "Gurriet, Thomas and Mote, Mark and Ames, Aaron D. and Feron, Eric",
    
    
    
    pages = "3592-3599",
    month = "December",
    year = "2018",
    doi = "https://doi.org/10.1109/cdc.2018.8619139",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92631,
    title ="Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control",
    author = "Nilsson, Petter and Ames, Aaron D.",
    
    
    
    pages = "765-772",
    month = "December",
    year = "2018",
    doi = "https://doi.org/10.1109/CDC.2018.8619142",
    isbn = "978-1-5386-1395-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190204-130250075",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92546,
    title ="Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods",
    author = "Gosyne, Jonathan R. and Hubicki, Christian M. and Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I.",
    
    
    
    pages = "994-1001",
    month = "November",
    year = "2018",
    
    isbn = "9781538672839",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92547,
    title ="Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    
    
    
    pages = "67-74",
    month = "November",
    year = "2018",
    doi = "https://doi.org/10.1109/humanoids.2018.8625066",
    isbn = "9781538672839",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445184",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92571,
    title ="Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control",
    author = "Xiong, Xiaobin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    pages = "3821-3828",
    month = "October",
    year = "2018",
    doi = "https://doi.org/10.1109/IROS.2018.8593547",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92649,
    title ="Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion",
    author = "Akbari Hamed, Kaveh and Gregg, Robert D. and Ames, Aaron D.",
    
    
    
    pages = "2210-2217",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.23919/ACC.2018.8431799",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92651,
    title ="Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion",
    author = "Kolathaya, Shishir and Reher, Jacob and Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "2224-2230",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.23919/ACC.2018.8430946",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92650,
    title ="Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking",
    author = "Akbari Hamed, Kaveh and Ames, Aaron D. and Gregg, Robert D.",
    
    
    
    pages = "1438-1445",
    month = "June",
    year = "2018",
    doi = "https://doi.org/10.23919/ACC.2018.8431607",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/101031,
    title ="Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams",
    author = "Nilsson, Petter and Haesaert, Sofie and Thakker, Rohan and Otsu, Kyohei and Vasile, Cristian-Ioan and Agha-Mohammadi, Ali-Akbar and Murray, Richard M. and Ames, Aaron D.",
    
    
    
    pages = "1-9",
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    year = "2018",
    doi = "https://doi.org/10.15607/rss.2018.xiv.047",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/89820,
    title ="Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons",
    author = "Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem and Duburcq, Alexis and Hereid, Ayonga and Harib, Omar and Masselin, Matthieu and Grizzle, Jessy and Ames, Aaron D.",
    
    
    
    pages = "2804-2811",
    month = "May",
    year = "2018",
    doi = "https://doi.org/10.1109/ICRA.2018.8460647",
    isbn = "978-1-5386-3081-5",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/86012,
    title ="Towards a Framework for Realizable Safety Critical Control through Active Set Invariance",
    author = "Gurriet, Thomas and Singletary, Andrew and Reher, Jacob and Ciarletta, Laurent and Feron, Eric and Ames, Aaron",
    
    
    
    pages = "98-106",
    month = "April",
    year = "2018",
    doi = "https://doi.org/10.1109/ICCPS.2018.00018",
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180423-111212976",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/84536,
    title ="Data-driven control for feedback linearizable single-input systems",
    author = "Tabuada, Paulo and Ma, Wen-Loong and Grizzle, Jessy and Ames, Aaron D.",
    
    
    
    pages = "6265-6270",
    month = "December",
    year = "2017",
    doi = "https://doi.org/10.1109/CDC.2017.8264603",
    isbn = "978-1-5090-2874-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180126-083355117",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/85662,
    title ="A stability region criterion for flat-footed bipedal walking on deformable granular terrain",
    author = "Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I.",
    
    
    
    pages = "4552-4559",
    month = "September",
    year = "2017",
    doi = "https://doi.org/10.1109/IROS.2017.8206323",
    isbn = "978-1-5386-2682-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/84412,
    title ="FROST: Fast robot optimization and simulation toolkit",
    author = "Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "719-726",
    month = "September",
    year = "2017",
    doi = "https://doi.org/10.1109/IROS.2017.8202230",
    isbn = "978-1-5386-2683-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20180119-085007221",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/82338,
    title ="Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds",
    author = "Xu, Xiangru and Waters, Thomas and Pickem, Daniel and Glotfelter, Paul and Egerstedt, Magnus and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D.",
    
    
    
    pages = "1769-1775",
    month = "August",
    year = "2017",
    doi = "https://doi.org/10.1109/CCTA.2017.8062713",
    isbn = "978-1-5090-2182-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/82443,
    title ="Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M",
    author = "Ambrose, Eric and Ma, Wen-Loong and Hubicki, Christian and Ames, Aaron D.",
    
    
    
    pages = "1270-1276",
    month = "August",
    year = "2017",
    doi = "https://doi.org/10.1109/CCTA.2017.8062633",
    isbn = "978-1-5090-2182-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20171018-075303778",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92654,
    title ="Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression",
    author = "Chang, Alexander H. and Hubicki, Christian M. and Aguilar, Jeff J. and Goldman, Daniel I. and Ames, Aaron D. and Vela, Patricio A.",
    
    
    
    pages = "2154-2160",
    month = "June",
    year = "2017",
    doi = "https://doi.org/10.1109/icra.2017.7989248",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-083656859",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92611,
    title ="The Robotarium: A remotely accessible swarm robotics research testbed",
    author = "Pickem, Daniel and Glotfelter, Paul and Wang, Li and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus",
    journal = "arXiv",
    
    
    pages = "1699-1706",
    month = "June",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989200",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160906310",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78781,
    title ="Closed-form controlled invariant sets for pedestrian avoidance",
    author = "Shoukry, Yasser and Tabuada, Paulo and Tsuei, Stephanie and Milam, Mark B. and Grizzle, Jessy W. and Ames, Aaron D.",
    
    
    
    pages = "1622-1628",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.23919/ACC.2017.7963185",
    isbn = "978-1-5090-5992-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170705-161535923",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79320,
    title ="Footstep and motion planning in semi-unstructured environments using randomized possibility graphs",
    author = "Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen",
    
    
    
    pages = "4747-4753",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989551",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170725-083100456",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79467,
    title ="Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis",
    author = "Zhao, Huihua and Ambrose, Eric and Ames, Aaron D.",
    
    
    
    pages = "1140-1147",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989136",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170726-163635418",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/78784,
    title ="Robust control of a powered transfemoral prosthesis device with experimental verification",
    author = "Azimi, Vahid and Shu, Tony and Zhao, Huihua and Ambrose, Eric and Ames, Aaron D. and Simon, Dan",
    
    
    
    pages = "517-522",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.23919/ACC.2017.7963005",
    isbn = "978-1-5090-5992-8",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170705-165618986",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/79319,
    title ="Safe certificate-based maneuvers for teams of quadrotors using differential flatness",
    author = "Wang, Li and Ames, Aaron D. and Egerstedt, Magnus",
    
    
    
    pages = "3293-3298",
    month = "May",
    year = "2017",
    doi = "https://doi.org/10.1109/ICRA.2017.7989375",
    isbn = "978-1-5090-4633-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170725-082128250",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/76617,
    title ="Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment",
    author = "Ma, Wen-Loong and Kolathaya, Shishir and Ambrose, Eric R. and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "265-274",
    month = "April",
    year = "2017",
    doi = "https://doi.org/10.1145/3049797.3049823",
    isbn = "978-1-4503-4590-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170417-144013108",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92695,
    title ="3D dynamic walking on stepping stones with control barrier functions",
    author = "Nguyen, Quang and Hereid, Ayonga and Grizzle, Jessy W. and Ames, Aaron D. and Sreenath, Koushil",
    
    
    
    pages = "827-834",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7798370",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-142557786",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92680,
    title ="3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation",
    author = "Zhao, Huihua and Hereid, Ayonga and Ambrose, Eric and Ames, Aaron D.",
    
    
    
    pages = "3668-3674",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7798821",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-140612490",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92609,
    title ="Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots",
    author = "Wang, Li and Ames, Aaron D. and Egerstedt, Magnus",
    journal = "arXiv",
    
    
    pages = "2659-2664",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7798663",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160902879",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92679,
    title ="Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization",
    author = "Hereid, Ayonga and Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "6173-6179",
    month = "December",
    year = "2016",
    doi = "https://doi.org/10.1109/CDC.2016.7799218",
    isbn = "978-1-5090-1837-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-135707405",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92656,
    title ="Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization",
    author = "Powell, Matthew J. and Ma, Wen-Loong and Ambrose, Eric R. and Ames, Aaron D.",
    
    
    
    pages = "981-986",
    month = "November",
    year = "2016",
    doi = "https://doi.org/10.1109/humanoids.2016.7803391",
    isbn = "978-1-5090-4718-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92696,
    title ="Efficient HZD gait generation for three-dimensional underactuated humanoid running",
    author = "Ma, Wen-Loong and Hereid, Ayonga and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "5819-5825",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759856",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-143905644",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92698,
    title ="Humanoid manipulation planning using backward-forward search",
    author = "Grey, Michael X. and Garrett, Caelan R. and Liu, C. Karen and Ames, Aaron D. and Thomaz, Andrea L.",
    
    
    
    pages = "5467-5473",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759804",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-155646129",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92705,
    title ="Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints",
    author = "Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "555-560",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759108",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92701,
    title ="Tractable terrain-aware motion planning on granular media: An impulsive jumping study",
    author = "Hubicki, Christian M. and Aguilar, Jeff J. and Goldman, Daniel I. and Ames, Aaron D.",
    
    
    
    pages = "3887-3892",
    month = "October",
    year = "2016",
    doi = "https://doi.org/10.1109/IROS.2016.7759572",
    isbn = "978-1-5090-3762-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190205-161256395",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92511,
    title ="Safety barrier certificates for heterogeneous multi-robot systems",
    author = "Wang, Li and Ames, Aaron and Egerstedt, Magnus",
    
    
    
    pages = "5213-5218",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7526486",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190129-150935683",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92780,
    title ="Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion",
    author = "Kolathaya, Shishir and Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "3916-3921",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7525524",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-084733458",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92779,
    title ="Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion",
    author = "Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "3922-3927",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7525525",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-084137891",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92781,
    title ="Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs",
    author = "Chao, Kenneth Y. and Powell, Matthew J. and Ames, Aaron D. and Hur, Pilwon",
    
    
    
    pages = "3910-3915",
    month = "July",
    year = "2016",
    doi = "https://doi.org/10.1109/ACC.2016.7525523",
    isbn = "978-1-4673-8682-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92784,
    title ="3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics",
    author = "Hereid, Ayonga and Cousineau, Eric A. and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "1447-1454",
    month = "May",
    year = "2016",
    doi = "https://doi.org/10.1109/ICRA.2016.7487279",
    isbn = "978-1-4673-8026-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-091046999",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92782,
    title ="Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS",
    author = "Reher, Jacob and Cousineau, Eric A. and Hereid, Ayonga and Hubicki, Christian M. and Ames, Aaron D.",
    
    
    
    pages = "1794-1801",
    month = "May",
    year = "2016",
    doi = "https://doi.org/10.1109/ICRA.2016.7487325",
    isbn = "978-1-4673-8026-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-085615775",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92783,
    title ="Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion",
    author = "Hubicki, Christian M. and Hereid, Ayonga and Grey, Michael X. and Thomaz, Andrea L. and Ames, Aaron D.",
    
    
    
    pages = "1552-1559",
    month = "May",
    year = "2016",
    doi = "https://doi.org/10.1109/ICRA.2016.7487293",
    isbn = "978-1-4673-8026-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-090232649",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92786,
    title ="A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses",
    author = "Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D.",
    
    
    
    pages = "1607-1612",
    month = "December",
    year = "2015",
    doi = "https://doi.org/10.1109/CDC.2015.7402440",
    isbn = "978-1-4799-7886-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-092409166",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92787,
    title ="Continuity and smoothness properties of nonlinear optimization-based feedback controllers",
    author = "Morris, Benjamin J. and Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "151-158",
    month = "December",
    year = "2015",
    doi = "https://doi.org/10.1109/CDC.2015.7402101",
    isbn = "978-1-4799-7886-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-092857644",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92792,
    title ="Realization of stair ascent and motion transitions on prostheses utilizing optimization-based control and intent recognition",
    author = "Zhao, Huihua and Reher, Jacob and Horn, Jonathan and Paredes, Victor and Ames, Aaron D.",
    
    
    
    pages = "265-270",
    month = "August",
    year = "2015",
    doi = "https://doi.org/10.1109/icorr.2015.7281210",
    isbn = "978-1-4799-1808-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-103725181",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92799,
    title ="Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars",
    author = "Mehra, Aakar and Ma, Wen-Loong and Berg, Forrest and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D.",
    
    
    
    pages = "1411-1418",
    month = "July",
    year = "2015",
    doi = "https://doi.org/10.1109/acc.2015.7170931",
    isbn = "978-1-4799-8684-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-132332836",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92794,
    title ="Control barrier function based quadratic programs with application to bipedal robotic walking",
    author = "Hsu, Shao-Chen and Xu, Xiangru and Ames, Aaron D.",
    
    
    
    pages = "4542-4548",
    month = "July",
    year = "2015",
    doi = "https://doi.org/10.1109/ACC.2015.7172044",
    isbn = "978-1-4799-8684-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-112041163",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92793,
    title ="Energy shaping of hybrid systems via control Lyapunov functions",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "5992-5997",
    month = "July",
    year = "2015",
    doi = "https://doi.org/10.1109/ACC.2015.7172280",
    isbn = "978-1-4799-8684-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-110812085",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99908,
    title ="First steps toward formal controller synthesis for bipedal robots",
    author = "Ames, Aaron D. and Tabuada, Paulo and Schürmann, Bastian and Ma, Wen-Loong and Kolathaya, Shishir and Rungger, Matthias and Grizzle, Jessy W.",
    
    
    
    pages = "209-218",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1145/2728606.2728611",
    isbn = "978-1-4503-3433-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-150734255",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92801,
    title ="Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking",
    author = "Hereid, Ayonga and Hubicki, Christian M. and Cousineau, Eric A. and Hurst, Jonathan W. and Ames, Aaron D.",
    
    
    
    pages = "5734-5740",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1109/icra.2015.7140002",
    isbn = "978-1-4799-6923-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92802,
    title ="Model predictive control of underactuated bipedal robotic walking",
    author = "Powell, Matthew J. and Cousineau, Eric A. and Ames, Aaron D.",
    
    
    
    pages = "5121-5126",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1109/ICRA.2015.7139912",
    isbn = "978-1-4799-6923-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852",
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@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92800,
    title ="Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method",
    author = "Cousineau, Eric and Ames, Aaron D.",
    
    
    
    pages = "5747-5753",
    month = "May",
    year = "2015",
    doi = "https://doi.org/10.1109/ICRA.2015.7140004",
    isbn = "978-1-4799-6923-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-134055057",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99899,
    title ="Composing Dynamical Systems to Realize Dynamic Robotic Dancing",
    author = "Kolathaya, Shishir and Ma, Wen-Loong and Ames, Aaron D.",
    
    
    number = "107",
    pages = "425-442",
    month = "April",
    year = "2015",
    doi = "https://doi.org/10.1007/978-3-319-16595-0_25",
    isbn = "978-3-319-16594-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97334,
    title ="Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control",
    author = "Zhao, Huihua and Reher, Jake and Horn, Jonathan and Paredes, Victor and Ames, Aaron D.",
    
    
    
    pages = "305-306",
    month = "April",
    year = "2015",
    
    isbn = "9781450334334",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92808,
    title ="Control barrier function based quadratic programs with application to adaptive cruise control",
    author = "Ames, Aaron D. and Grizzle, Jessy W. and Tabuada, Paulo",
    
    
    
    pages = "6271-6278",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7040372",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-153602153",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92842,
    title ="Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control",
    author = "Hereid, Ayonga and Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "2950-2957",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7039843",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92809,
    title ="Hierarchical control of series elastic actuators through control Lyapunov functions",
    author = "Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "2986-2992",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7039848",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-161258821",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92844,
    title ="Preliminary results on correct-by-construction control software synthesis for adaptive cruise control",
    author = "Nilsson, Petter and Hussien, Omar and Chen, Yuxiao and Balkan, Ayca and Rungger, Matthias and Ames, Aaron and Grizzle, Jessy and Ozay, Necmiye and Peng, Huei and Tabuada, Paulo",
    
    
    
    pages = "816-823",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/cdc.2014.7039482",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190212-080911317",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92804,
    title ="Quadratic program based nonlinear embedded control of series elastic actuators",
    author = "Ames, Aaron D. and Holley, James",
    
    
    
    pages = "6291-6298",
    month = "December",
    year = "2014",
    doi = "https://doi.org/10.1109/CDC.2014.7040375",
    isbn = "978-1-4673-6090-6",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190208-144246388",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99910,
    title ="Human-inspired walking via unified PD and impedance control",
    author = "Ma, Wen-Loong and Zhao, Hui-Hua and Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "5088-5094",
    month = "June",
    year = "2014",
    doi = "https://doi.org/10.1109/icra.2014.6907605",
    isbn = "978-1-4799-3685-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152814175",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92864,
    title ="Planar multi-contact bipedal walking using hybrid zero dynamics",
    author = "Lack, Jordan and Powell, Matthew J. and Ames, Aaron D.",
    
    
    
    pages = "2582-2588",
    month = "June",
    year = "2014",
    doi = "https://doi.org/10.1109/ICRA.2014.6907229",
    isbn = "978-1-4799-3685-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97339,
    title ="Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion",
    author = "Zhao, Huihua and Ames, Aaron D.",
    
    
    
    pages = "4101-4107",
    month = "June",
    year = "2014",
    
    isbn = "9781479932726",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-162619788",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92865,
    title ="Quadratic programming and impedance control for transfemoral prosthesis",
    author = "Zhao, Huihua and Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "1341-1347",
    month = "June",
    year = "2014",
    doi = "https://doi.org/10.1109/ICRA.2014.6907026",
    isbn = "978-1-4799-3685-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-074209852",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/99909,
    title ="Human-inspired multi-contact locomotion with AMBER2",
    author = "Zhao, Hui-Hua and Ma, Wen-Loong and Ames, Aaron D. and Zeagler, Michael B.",
    
    
    
    pages = "199-210",
    month = "April",
    year = "2014",
    doi = "https://doi.org/10.1109/iccps.2014.6843723",
    isbn = "978-1-4799-4930-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20191118-152240499",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/97340,
    title ="Learning impedance controller parameters for lower-limb prostheses",
    author = "Aghasadeghi, Navid and Zhao, Huihua and Hargrove, Levi J. and Ames, Aaron D. and Perreault, Eric J. and Bretl, Timothy",
    
    
    
    pages = "4268-4274",
    month = "November",
    year = "2013",
    doi = "https://doi.org/10.1109/IROS.2013.6696968",
    isbn = "9781467363587",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190722-164824084",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92867,
    title ="Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics",
    author = "Powell, Matthew J. and Hereid, Ayonga and Ames, Aaron D.",
    
    
    
    pages = "4803-4810",
    month = "May",
    year = "2013",
    doi = "https://doi.org/10.1109/ICRA.2013.6631262",
    isbn = "978-1-4673-5643-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92874,
    title ="Control Lyapunov functions and hybrid zero dynamics",
    author = "Ames, Aaron D. and Galloway, Kevin and Grizzle, J. W.",
    
    
    
    pages = "6837-6842",
    month = "December",
    year = "2012",
    doi = "https://doi.org/10.1109/CDC.2012.6426229",
    isbn = "978-1-4673-2066-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085922450",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92873,
    title ="Achieving bipedal locomotion on rough terrain through human-inspired control",
    author = "Kolathaya, Shishir and Ames, Aaron D.",
    
    
    
    pages = "1-6",
    month = "November",
    year = "2012",
    doi = "https://doi.org/10.1109/SSRR.2012.6523897",
    isbn = "978-1-4799-0165-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-085525671",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92960,
    title ="A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report)",
    author = "Taha, Walid and Brauner, Paul and Zeng, Yingfu and Cartwright, Robert and Gaspes, Veronica and Ames, Aaron and Chapoutot, Alexandre",
    
    
    
    pages = "303-308",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/icdcsw.2012.72",
    isbn = "9781467314237",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-142949580",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92878,
    title ="Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "4831-4836",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/ACC.2012.6315667",
    isbn = "978-1-4577-1096-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92957,
    title ="Outputs of human walking for bipedal robotic controller design",
    author = "Jiang, Shu and Partrick, Shawanee and Zhao, Huihua and Ames, Aaron D.",
    
    
    
    pages = "4843-4848",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/ACC.2012.6315648",
    isbn = "978-1-4577-1096-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190215-125345208",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92877,
    title ="Zeno behavior in electromechanical hybrid systems: From theory to experimental validation",
    author = "Yadukumar, Shishir Nadubettu and Kothapalli, Bhargav and Ames, Aaron D.",
    
    
    
    pages = "2437-2442",
    month = "June",
    year = "2012",
    doi = "https://doi.org/10.1109/ACC.2012.6315696",
    isbn = "978-1-4577-1096-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190213-095536575",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93006,
    title ="Compass gait revisited: A human data perspective with extensions to three dimensions",
    author = "Sinnet, Ryan W. and Powell, Matthew J. and Jiang, Shu and Ames, Aaron D.",
    
    
    
    pages = "682-689",
    month = "December",
    year = "2011",
    doi = "https://doi.org/10.1109/CDC.2011.6161473",
    isbn = "978-1-61284-801-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-105431416",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93007,
    title ="Rank deficiency and superstability of hybrid systems with application to bipedal robots",
    author = "Wendel, Eric and Ames, Aaron D.",
    
    
    
    pages = "7422-7427",
    month = "December",
    year = "2011",
    doi = "https://doi.org/10.1109/CDC.2011.6160972",
    isbn = "978-1-61284-801-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190220-110834216",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93235,
    title ="Simulating prosthetic devices with human-inspired hybrid control",
    author = "Sinnet, Ryan W. and Zhao, Huihua and Ames, Aaron D.",
    
    
    
    pages = "1723-1730",
    month = "September",
    year = "2011",
    doi = "https://doi.org/10.1109/IROS.2011.6095186",
    isbn = "978-1-61284-456-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190225-142546398",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93249,
    title ="2D bipedal walking with knees and feet: A hybrid control approach",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "3200-3207",
    month = "December",
    year = "2009",
    doi = "https://doi.org/10.1109/CDC.2009.5400503",
    isbn = "978-1-4244-3872-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-091428821",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93259,
    title ="3D bipedal walking with knees and feet: A hybrid geometric approach",
    author = "Sinnet, Ryan W. and Ames, Aaron D.",
    
    
    
    pages = "3208-3213",
    month = "December",
    year = "2009",
    doi = "https://doi.org/10.1109/CDC.2009.5400457",
    isbn = "978-1-4244-3872-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/18180,
    title ="Formal and practical completion of Lagrangian hybrid systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    
    
    
    pages = "3624-3631",
    month = "June",
    year = "2009",
    doi = "https://doi.org/10.1109/ACC.2009.5159852 ",
    isbn = "978-1-4244-4523-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/18668,
    title ="Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    
    volume = "5469",
    number = "5469",
    pages = "291-305",
    month = "April",
    year = "2009",
    doi = "https://doi.org/10.1007/978-3-642-00602-9_21",
    isbn = "978-3-642-00601-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100614-134937637",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93395,
    title ="On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria",
    author = "Lamperski, Andrew and Ames, Aaron D.",
    
    
    
    pages = "2776-2781",
    month = "December",
    year = "2008",
    doi = "https://doi.org/10.1109/CDC.2008.4739100",
    isbn = "978-1-4244-3124-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190301-113954983",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93265,
    title ="Stability of Zeno equilibria in Lagrangian hybrid systems",
    author = "Or, Yizhar and Ames, Aaron D.",
    
    
    
    pages = "2770-2775",
    month = "December",
    year = "2008",
    doi = "https://doi.org/10.1109/CDC.2008.4739235",
    isbn = "978-1-4244-3124-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190226-103320953",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19135,
    title ="Sufficient conditions for Zeno behavior in Lagrangian hybrid systems",
    author = "Lamperski, Andrew and Ames, Aaron D.",
    
    
    number = "4981",
    pages = "622-625",
    month = "July",
    year = "2008",
    doi = "https://doi.org/10.1007/978-3-540-78929-1_49",
    isbn = "978-3-540-78928-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100720-154109791",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/18762,
    title ="Complexity and fragility in stability for linear systems",
    author = "Ames, Aaron D. and Doyle, John C.",
    
    
    
    pages = "1630-1637",
    month = "June",
    year = "2008",
    doi = "https://doi.org/10.1109/ACC.2008.4586725 ",
    isbn = "978-1-4244-2078-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100622-135915127",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19878,
    title ="Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems",
    author = "Lamperski, Andrew and Ames, Aaron D.",
    
    
    
    pages = "115-120",
    month = "January",
    year = "2008",
    
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100910-155719194",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19430,
    title ="Sufficient conditions for the existence of Zeno behavior in a class of nonlinear hybrid systems via constant approximations",
    author = "Ames, Aaron D. and Abate, Alessandro and Sastry, Shankar",
    
    
    
    pages = "5420-5425",
    month = "January",
    year = "2008",
    
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100813-134422032",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19431,
    title ="A geometric approach to three-dimensional hipped bipedal robotic walking",
    author = "Ames, Aaron D. and Gregg, Robert D. and Spong, Mark W.",
    
    
    
    pages = "5348-5355",
    month = "December",
    year = "2007",
    doi = "https://doi.org/10.1109/CDC.2007.4434880  ",
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100813-141525838",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19511,
    title ="Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions",
    author = "Ames, Aaron D. and Gregg, Robert D.",
    
    
    
    pages = "5658-5664",
    month = "July",
    year = "2007",
    doi = "https://doi.org/10.1109/ACC.2007.4283081  ",
    isbn = "978-1-4244-0988-4",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100819-110032829",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/98074,
    title ="Composition of Dynamical Systems for Estimation of Human Body Dynamics",
    author = "Ganesh, Sumitra and Ames, Aaron D. and Bajcsy, Ruzena",
    
    
    number = "4416",
    pages = "702-705",
    month = "May",
    year = "2007",
    doi = "https://doi.org/10.1007/978-3-540-71493-4_65",
    isbn = "978-3-540-71492-7",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190821-103851149",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/20306,
    title ="Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped",
    author = "Pekarek, David and Ames, Aaron D. and Marsden, Jerrold E.",
    
    
    
    pages = "5376-5382",
    month = "January",
    year = "2007",
    
    isbn = "978-1-4244-1497-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20101005-121327216",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19509,
    title ="Homotopy Meaningful Hybrid Model Structures",
    author = "Ames, Aaron D.",
    
    
    number = "438",
    pages = "121-144",
    month = "January",
    year = "2007",
    
    
    isbn = "978-0-8218-4246-1",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100819-104123296",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/19507,
    title ="On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers",
    author = "Ames, Aaron D. and Gregg, Robert D. and Wendel, Eric D. B. and Sastry, Shankar",
    
    
    number = "366",
    pages = "183-196",
    month = "January",
    year = "2007",
    doi = "https://doi.org/10.1007/978-3-540-73890-9_14",
    isbn = "978-3-540-73889-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20100819-102549602",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/77361,
    title ="Approximate Reduction of Dynamical Systems",
    author = "Tabuada, Paulo and Ames, Aaron D. and Julius, Agung and Pappas, George",
    
    
    
    pages = "6408-6413",
    month = "December",
    year = "2006",
    doi = "https://doi.org/10.1109/CDC.2006.377156",
    isbn = "1-4244-0171-2",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20170510-174336817",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93520,
    title ="A priori detection of Zeno behavior in communication networks modeled as hybrid systems",
    author = "Abate, Alessandro and Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "3340-3345",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1657234",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-084057276",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93632,
    title ="Error bounds based stochastic approximations and simulations of hybrid dynamical systems",
    author = "Abate, Alessandro and Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "4742-4747",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1657470",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-105929555",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93633,
    title ="Hybrid Routhian reduction of Lagrangian hybrid systems",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "2640-2645",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1656621",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-110301990",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93593,
    title ="Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "2646-2651",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1656622",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190306-123956663",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93598,
    title ="Is there life after Zeno? Taking executions past the breaking (Zeno) point",
    author = "Ames, Aaron D. and Zheng, Haiyang and Gregg, Robert D. and Sastry, Shankar",
    
    
    
    pages = "2652-2657",
    month = "June",
    year = "2006",
    doi = "https://doi.org/10.1109/ACC.2006.1656623",
    isbn = "1-4244-0209-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190306-131542421",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/21820,
    title ="Hybrid Geometric Reduction of Hybrid Systems",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "923-929",
    month = "January",
    year = "2006",
    
    isbn = "978-1-4244-0170-3",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20110120-091215904",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93634,
    title ="On the Partitioning of Syntax and Semantics For Hybrid Systems Tools",
    author = "Sprinkle, Jonathan and Ames, Aaron D. and Pinto, Alessandro and Zheng, Haiyang and Sastry, S. Shankar",
    
    
    
    pages = "4694-4699",
    month = "December",
    year = "2005",
    doi = "https://doi.org/10.1109/CDC.2005.1582903",
    isbn = "0-7803-9567-0",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-111103826",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93514,
    title ="Sufficient Conditions for the Existence of Zeno Behavior",
    author = "Ames, Aaron D. and Abate, Alessandro and Sastry, Shankar",
    
    
    
    pages = "696-701",
    month = "December",
    year = "2005",
    doi = "https://doi.org/10.1109/CDC.2005.1582237",
    isbn = "0-7803-9568-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-074933127",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93476,
    title ="Characterization of Zeno behavior in hybrid systems using homological methods",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "1160-1165",
    month = "June",
    year = "2005",
    doi = "https://doi.org/10.1109/ACC.2005.1470118",
    isbn = "0-7803-9098-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190304-152359371",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93513,
    title ="Stochastic approximations of hybrid systems",
    author = "Abate, Alessandro and Ames, Aaron D. and Sastry, S. Shankar",
    
    volume = "3",
    
    pages = "1557-1562",
    month = "June",
    year = "2005",
    doi = "https://doi.org/10.1109/ACC.2005.1470189",
    isbn = "0-7803-9098-9",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190305-074604391",
}
@book_section {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/93637,
    title ="Blowing up affine hybrid systems",
    author = "Ames, Aaron D. and Sastry, Shankar",
    
    
    
    pages = "473-478",
    month = "December",
    year = "2004",
    doi = "https://doi.org/10.1109/CDC.2004.1428675",
    isbn = "0-7803-8682-5",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190307-123634418",
}