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Stability for Hybrid Human-Prosthesis Systems; ISBN
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Stochastic Shortest Path Planning; ISBN 978-1-6654-3659-5;
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Disturbance Rejection for Robotic Bipedal Walking:
System-Level-Synthesis with Step-to-step Dynamics Approximation;
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Navigation in Uncertain Environments with High-Level Specifications;
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to Control an Unstable System with One Minute of Data: Leveraging
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Control Barrier Functions: Certainty in Safety with Uncertainty in
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Region of Interest Active Learning for Characterizing Exoskeleton Gait
Preference Landscapes; ISBN 978-1-7281-9077-8; 3212-3218; 10.1109/ICRA48506.2021.9560840
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Risk-Averse Markov Decision Processes; 10.48550/arXiv.2012.02423
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Safety Using Control Barrier Functions and Hybrid Adaptation; ISBN
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Safety for Nonlinear Time Delay Systems via Safety Functionals: A
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Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics
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Dynamics Control of Compliant Hybrid Zero Dynamic Walking; ISBN
978-1-7281-9077-8; 2040-2047; 10.1109/ICRA48506.2021.9560906
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Prosthesis Control with Interaction Force Estimation; ISBN
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Safety for Legged Robots via Control Barrier Functions and Model
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Control of Compartmental Epidemiological Models with Measurement
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the Unification of System Design and Motion Synthesis for
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Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical
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Functions for Multiagent-POMDPs with DTL Specifications; ISBN
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Barrier Functions for Sampled-Data Systems with Input Delays; ISBN
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Characterization of Human Interaction for Model-based Control of Powered
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Motion Planning for Multi-Modal Hybrid Locomotion; ISBN
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Preference-Based Learning for High-dimensional Optimization of
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Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled
Bipedal Robots; ISBN 9781728162126; 4006-4011; 10.1109/IROS45743.2020.9341181
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Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum
Transmission with Task Space Control; ISBN 978-1-7281-6212-6;
3510-3517; 10.1109/IROS45743.2020.9341467
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Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics
Decomposition for Rapid Gait Generation; ISBN 978-1-7281-7395-5;
4491-4497; 10.1109/ICRA40945.2020.9196841
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Performance on Moving-Mass Hopping Robots with Parallel Elasticity;
ISBN 978-1-7281-7395-5; 2457-2463; 10.1109/ICRA40945.2020.9197070
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Dynamic Balancing and Walking in Actuated Environments; ISBN
9781728173955; 9775-9781; 10.1109/icra40945.2020.9197400
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Learning for Exoskeleton Gait Optimization; ISBN 978-1-7281-7395-5;
2351-2357; 10.1109/ICRA40945.2020.9196661
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Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis
with EdgeDRNN Accelerator; ISBN 9781728173955; 5460-5466; 10.1109/ICRA40945.2020.9196984
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Rapid Aerial Exploration of Unknown Environments; ISBN
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Safety with Control Barrier Functions; ISBN 9781538682661;
1399-1405; 10.23919/acc45564.2020.9147463
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Inverse Dynamics Approach to Control Lyapunov Functions; ISBN
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- Chen, Yuxiao; Singletary, Andrew W.; et el. (2020) Density
Functions for Guaranteed Safety on Robotic Systems; ISBN
9781538682661; 3199-3204; 10.23919/acc45564.2020.9147265
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Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal
Robots: A Virtual Constraint Approach; 10.23919/ACC45564.2020.9147673
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Sets for Integrators and Quadrotor Obstacle Avoidance; ISBN
9781538682661; 3814-3821; 10.23919/acc45564.2020.9147872
- Nilsson, Petter and Ames, Aaron D. (2020) Lyapunov-Like
Conditions for Tight Exit Probability Bounds through Comparison Theorems
for SDEs; ISBN 9781538682661; 5175-5181; 10.23919/acc45564.2020.9147414
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Model Predictive Control of Robotic Systems with Control Lyapunov
Functions; 10.48550/arXiv.2006.01229
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a Converse theorem for Finite-time Lyapunov Functions to Estimate
Domains of Attraction; ISBN 9781538682661; 3763-3769; 10.23919/acc45564.2020.9147709
- Chen, Yuxiao; Ahmadi, Mohamadreza; et el. (2020) Optimal
Safe Controller Synthesis: A Density Function Approach; ISBN
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Planning Under Uncertainty; ISBN 9781538682661; 3305-3312; 10.23919/ACC45564.2020.9147792
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10.1109/spw50608.2020.00046
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Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot
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Control Lyapunov Perspective on Episodic Learning via Projection to
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Scalable Controlled Set Invariance Framework with Practical Safety
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Control of Piecwise-smooth Control Systems via Singular
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5498-5503; 10.1109/IROS40897.2019.8968189
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Decoupling and Composition via Reduced Order Model optimization for
Dynamic Humanoid Walking with CLF-QP based Active Force Control;
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Characterization, Stabilization and Composition on 3D Underactuated
Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model;
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Set Invariance in Network Systems with Assume-Guarantee Contracts;
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Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and
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10.48550/arXiv.1810.06697
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Functionals for Time Delay Systems; ISBN 978-1-5386-7926-5;
4374-4379
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Barrier Functions: Theory and Applications; ISBN 978-3-907144-00-8;
3420-3431; 10.23919/ECC.2019.8796030
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Walking with Compliance on a Cassie Bipedal Robot; ISBN
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Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with
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Hop is an Opportunity: Quickly Classifying and Adapting to Terrain
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3592-3599; 10.1109/cdc.2018.8619139
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Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment
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Reduced Order Models via Feedback Control for 3D Underactuated Bipedal
Robotic Walking; ISBN 9781538672839; 67-74; 10.1109/humanoids.2018.8625066
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Hopping: Reduced-order Model Embedding via Optimization-based
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a Framework for Realizable Safety Critical Control through Active Set
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dynamic walking with underactuated humanoid robots: A direct collocation
framework for optimizing hybrid zero dynamics; ISBN
978-1-4673-8026-3; 1447-1454; 10.1109/ICRA.2016.7487279
- Reher, Jacob; Cousineau, Eric A.; et el. (2016) Realizing
dynamic and efficient bipedal locomotion on the humanoid robot
DURUS; ISBN 978-1-4673-8026-3; 1794-1801; 10.1109/ICRA.2016.7487325
- Hubicki, Christian M.; Hereid, Ayonga; et el. (2016) Work
those arms: Toward dynamic and stable humanoid walking that optimizes
full-body motion; ISBN 978-1-4673-8026-3; 1552-1559; 10.1109/ICRA.2016.7487293
- Zhao, Huihua; Horn, Jonathan; et el. (2015) A
hybrid systems and optimization-based control approach to realizing
multi-contact locomotion on transfemoral prostheses; ISBN
978-1-4799-7886-1; 1607-1612; 10.1109/CDC.2015.7402440
- Morris, Benjamin J.; Powell, Matthew J.; et el. (2015) Continuity
and smoothness properties of nonlinear optimization-based feedback
controllers; ISBN 978-1-4799-7886-1; 151-158; 10.1109/CDC.2015.7402101
- Zhao, Huihua; Reher, Jacob; et el. (2015) Realization
of stair ascent and motion transitions on prostheses utilizing
optimization-based control and intent recognition; ISBN
978-1-4799-1808-9; 265-270; 10.1109/icorr.2015.7281210
- Mehra, Aakar; Ma, Wen-Loong; et el. (2015) Adaptive
cruise control: Experimental validation of advanced controllers on
scale-model cars; ISBN 978-1-4799-8684-2; 1411-1418; 10.1109/acc.2015.7170931
- Hsu, Shao-Chen; Xu, Xiangru; et el. (2015) Control
barrier function based quadratic programs with application to bipedal
robotic walking; ISBN 978-1-4799-8684-2; 4542-4548; 10.1109/ACC.2015.7172044
- Sinnet, Ryan W. and Ames, Aaron D. (2015) Energy
shaping of hybrid systems via control Lyapunov functions; ISBN
978-1-4799-8684-2; 5992-5997; 10.1109/ACC.2015.7172280
- Ames, Aaron D.; Tabuada, Paulo; et el. (2015) First
steps toward formal controller synthesis for bipedal robots; ISBN
978-1-4503-3433-4; 209-218; 10.1145/2728606.2728611
- Hereid, Ayonga; Hubicki, Christian M.; et el. (2015) Hybrid
zero dynamics based multiple shooting optimization with applications to
robotic walking; ISBN 978-1-4799-6923-4; 5734-5740; 10.1109/icra.2015.7140002
- Powell, Matthew J.; Cousineau, Eric A.; et el. (2015) Model
predictive control of underactuated bipedal robotic walking; ISBN
978-1-4799-6923-4; 5121-5126; 10.1109/ICRA.2015.7139912
- Cousineau, Eric and Ames, Aaron D. (2015) Realizing
underactuated bipedal walking with torque controllers via the ideal
model resolved motion method; ISBN 978-1-4799-6923-4; 5747-5753; 10.1109/ICRA.2015.7140004
- Kolathaya, Shishir; Ma, Wen-Loong; et el. (2015) Composing
Dynamical Systems to Realize Dynamic Robotic Dancing; ISBN
978-3-319-16594-3; 425-442; 10.1007/978-3-319-16595-0_25
- Zhao, Huihua; Reher, Jake; et el. (2015) Demonstration
of locomotion with the powered prosthesis AMPRO utilizing online
optimization-based control; ISBN 9781450334334; 305-306; 10.1145/2728606.2728638
- Ames, Aaron D.; Grizzle, Jessy W.; et el. (2014) Control
barrier function based quadratic programs with application to adaptive
cruise control; ISBN 978-1-4673-6090-6; 6271-6278; 10.1109/CDC.2014.7040372
- Hereid, Ayonga; Powell, Matthew J.; et el. (2014) Embedding
of SLIP dynamics on underactuated bipedal robots through multi-objective
quadratic program based control; ISBN 978-1-4673-6090-6; 2950-2957;
10.1109/CDC.2014.7039843
- Powell, Matthew J. and Ames, Aaron D. (2014) Hierarchical
control of series elastic actuators through control Lyapunov
functions; ISBN 978-1-4673-6090-6; 2986-2992; 10.1109/CDC.2014.7039848
- Nilsson, Petter; Hussien, Omar; et el. (2014) Preliminary
results on correct-by-construction control software synthesis for
adaptive cruise control; ISBN 978-1-4673-6090-6; 816-823; 10.1109/cdc.2014.7039482
- Ames, Aaron D. and Holley, James (2014) Quadratic
program based nonlinear embedded control of series elastic
actuators; ISBN 978-1-4673-6090-6; 6291-6298; 10.1109/CDC.2014.7040375
- Ma, Wen-Loong; Zhao, Hui-Hua; et el. (2014) Human-inspired
walking via unified PD and impedance control; ISBN
978-1-4799-3685-4; 5088-5094; 10.1109/icra.2014.6907605
- Lack, Jordan; Powell, Matthew J.; et el. (2014) Planar
multi-contact bipedal walking using hybrid zero dynamics; ISBN
978-1-4799-3685-4; 2582-2588; 10.1109/ICRA.2014.6907229
- Zhao, Huihua and Ames, Aaron D. (2014) Quadratic
program based control of fully-actuated transfemoral prosthesis for
flat-ground and up-slope locomotion; ISBN 9781479932726; 4101-4107;
10.1109/ACC.2014.6859014
- Zhao, Huihua; Kolathaya, Shishir; et el. (2014) Quadratic
programming and impedance control for transfemoral prosthesis; ISBN
978-1-4799-3685-4; 1341-1347; 10.1109/ICRA.2014.6907026
- Zhao, Hui-Hua; Ma, Wen-Loong; et el. (2014) Human-inspired
multi-contact locomotion with AMBER2; ISBN 978-1-4799-4930-4;
199-210; 10.1109/iccps.2014.6843723
- Aghasadeghi, Navid; Zhao, Huihua; et el. (2013) Learning
impedance controller parameters for lower-limb prostheses; ISBN
9781467363587; 4268-4274; 10.1109/IROS.2013.6696968
- Powell, Matthew J.; Hereid, Ayonga; et el. (2013) Speed
regulation in 3D robotic walking through motion transitions between
Human-Inspired partial hybrid zero dynamics; ISBN 978-1-4673-5643-5;
4803-4810; 10.1109/ICRA.2013.6631262
- Ames, Aaron D.; Galloway, Kevin; et el. (2012) Control
Lyapunov functions and hybrid zero dynamics; ISBN 978-1-4673-2066-5;
6837-6842; 10.1109/CDC.2012.6426229
- Kolathaya, Shishir and Ames, Aaron D. (2012) Achieving
bipedal locomotion on rough terrain through human-inspired control;
ISBN 978-1-4799-0165-4; 1-6; 10.1109/SSRR.2012.6523897
- Taha, Walid; Brauner, Paul; et el. (2012) A
Core Language for Executable Models of Cyber-Physical Systems
(Preliminary Report); ISBN 9781467314237; 303-308; 10.1109/icdcsw.2012.72
- Sinnet, Ryan W. and Ames, Aaron D. (2012) Extending
two-dimensional human-inspired bipedal robotic walking to three
dimensions through geometric reduction; ISBN 978-1-4577-1096-4;
4831-4836; 10.1109/ACC.2012.6315667
- Jiang, Shu; Partrick, Shawanee; et el. (2012) Outputs
of human walking for bipedal robotic controller design; ISBN
978-1-4577-1096-4; 4843-4848; 10.1109/ACC.2012.6315648
- Yadukumar, Shishir Nadubettu; Kothapalli, Bhargav; et el. (2012) Zeno
behavior in electromechanical hybrid systems: From theory to
experimental validation; ISBN 978-1-4577-1096-4; 2437-2442; 10.1109/ACC.2012.6315696
- Sinnet, Ryan W.; Powell, Matthew J.; et el. (2011) Compass
gait revisited: A human data perspective with extensions to three
dimensions; ISBN 978-1-61284-801-3; 682-689; 10.1109/CDC.2011.6161473
- Wendel, Eric and Ames, Aaron D. (2011) Rank
deficiency and superstability of hybrid systems with application to
bipedal robots; ISBN 978-1-61284-801-3; 7422-7427; 10.1109/CDC.2011.6160972
- Sinnet, Ryan W.; Zhao, Huihua; et el. (2011) Simulating
prosthetic devices with human-inspired hybrid control; ISBN
978-1-61284-456-5; 1723-1730; 10.1109/IROS.2011.6095186
- Sinnet, Ryan W. and Ames, Aaron D. (2009) 2D
bipedal walking with knees and feet: A hybrid control approach; ISBN
978-1-4244-3872-3; 3200-3207; 10.1109/CDC.2009.5400503
- Sinnet, Ryan W. and Ames, Aaron D. (2009) 3D
bipedal walking with knees and feet: A hybrid geometric approach;
ISBN 978-1-4244-3872-3; 3208-3213; 10.1109/CDC.2009.5400457
- Or, Yizhar and Ames, Aaron D. (2009) Formal
and practical completion of Lagrangian hybrid systems; ISBN
978-1-4244-4523-3; 3624-3631; 10.1109/ACC.2009.5159852
- Or, Yizhar and Ames, Aaron D. (2009) Existence
of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid
Systems; ISBN 978-3-642-00601-2; 291-305; 10.1007/978-3-642-00602-9_21
- Lamperski, Andrew and Ames, Aaron D. (2008) On
the existence of Zeno behavior in hybrid systems with non-isolated Zeno
equilibria; ISBN 978-1-4244-3124-3; 2776-2781; 10.1109/CDC.2008.4739100
- Or, Yizhar and Ames, Aaron D. (2008) Stability
of Zeno equilibria in Lagrangian hybrid systems; ISBN
978-1-4244-3124-3; 2770-2775; 10.1109/CDC.2008.4739235
- Lamperski, Andrew and Ames, Aaron D. (2008) Sufficient
conditions for Zeno behavior in Lagrangian hybrid systems; ISBN
978-3-540-78928-4; 622-625; 10.1007/978-3-540-78929-1_49
- Ames, Aaron D. and Doyle, John C. (2008) Complexity
and fragility in stability for linear systems; ISBN
978-1-4244-2078-0; 1630-1637; 10.1109/ACC.2008.4586725
- Lamperski, Andrew and Ames, Aaron D. (2008) Lyapunov-Like
Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian
Hybrid Systems; ISBN 978-1-4244-1497-0; 115-120; 10.1109/CDC.2007.4435003
- Ames, Aaron D.; Abate, Alessandro; et el. (2008) Sufficient
conditions for the existence of Zeno behavior in a class of nonlinear
hybrid systems via constant approximations; ISBN 978-1-4244-1497-0;
5420-5425; 10.1109/CDC.2007.4434891
- Ames, Aaron D.; Gregg, Robert D.; et el. (2007) A
geometric approach to three-dimensional hipped bipedal robotic
walking; ISBN 978-1-4244-1497-0; 5348-5355; 10.1109/CDC.2007.4434880
- Ames, Aaron D. and Gregg, Robert D. (2007) Stably
Extending Two-Dimensional Bipedal Walking to Three Dimensions; ISBN
978-1-4244-0988-4; 5658-5664; 10.1109/ACC.2007.4283081
- Ganesh, Sumitra; Ames, Aaron D.; et el. (2007) Composition
of Dynamical Systems for Estimation of Human Body Dynamics; ISBN
978-3-540-71492-7; 702-705; 10.1007/978-3-540-71493-4_65
- Pekarek, David; Ames, Aaron D.; et el. (2007) Discrete
Mechanics and Optimal Control Applied to the Compass Gait Biped;
ISBN 978-1-4244-1497-0; 5376-5382; 10.1109/CDC.2007.4434296
- Ames, Aaron D. (2007) Homotopy
Meaningful Hybrid Model Structures; ISBN 978-0-8218-4246-1;
121-144
- Ames, Aaron D.; Gregg, Robert D.; et el. (2007) On
the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic
Walkers; ISBN 978-3-540-73889-3; 183-196; 10.1007/978-3-540-73890-9_14
- Tabuada, Paulo; Ames, Aaron D.; et el. (2006) Approximate
Reduction of Dynamical Systems; ISBN 1-4244-0171-2; 6408-6413; 10.1109/CDC.2006.377156
- Abate, Alessandro; Ames, Aaron D.; et el. (2006) A
priori detection of Zeno behavior in communication networks modeled as
hybrid systems; ISBN 1-4244-0209-3; 3340-3345; 10.1109/ACC.2006.1657234
- Abate, Alessandro; Ames, Aaron D.; et el. (2006) Error
bounds based stochastic approximations and simulations of hybrid
dynamical systems; ISBN 1-4244-0209-3; 4742-4747; 10.1109/ACC.2006.1657470
- Ames, Aaron D. and Sastry, Shankar (2006) Hybrid
Routhian reduction of Lagrangian hybrid systems; ISBN 1-4244-0209-3;
2640-2645; 10.1109/ACC.2006.1656621
- Ames, Aaron D. and Sastry, Shankar (2006) Hybrid
cotangent bundle reduction of simple hybrid mechanical systems with
symmetry; ISBN 1-4244-0209-3; 2646-2651; 10.1109/ACC.2006.1656622
- Ames, Aaron D.; Zheng, Haiyang; et el. (2006) Is
there life after Zeno? Taking executions past the breaking (Zeno)
point; ISBN 1-4244-0209-3; 2652-2657; 10.1109/ACC.2006.1656623
- Ames, Aaron D. and Sastry, Shankar (2006) Hybrid
Geometric Reduction of Hybrid Systems; ISBN 978-1-4244-0170-3;
923-929; 10.1109/CDC.2006.377245
- Sprinkle, Jonathan; Ames, Aaron D.; et el. (2005) On
the Partitioning of Syntax and Semantics For Hybrid Systems Tools;
ISBN 0-7803-9567-0; 4694-4699; 10.1109/CDC.2005.1582903
- Ames, Aaron D.; Abate, Alessandro; et el. (2005) Sufficient
Conditions for the Existence of Zeno Behavior; ISBN 0-7803-9568-9;
696-701; 10.1109/CDC.2005.1582237
- Ames, Aaron D. and Sastry, Shankar (2005) Characterization
of Zeno behavior in hybrid systems using homological methods; ISBN
0-7803-9098-9; 1160-1165; 10.1109/ACC.2005.1470118
- Abate, Alessandro; Ames, Aaron D.; et el. (2005) Stochastic
approximations of hybrid systems; ISBN 0-7803-9098-9; 1557-1562; 10.1109/ACC.2005.1470189
- Ames, Aaron D. and Sastry, Shankar (2004) Blowing
up affine hybrid systems; ISBN 0-7803-8682-5; 473-478; 10.1109/CDC.2004.1428675