@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118471,
    title ="Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data",
    author = "Akella, Prithvi and Wei, Skylar X. and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "December",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234112304",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118470,
    title ="Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion",
    author = "Fawcett, Randall T. and Amanzadeh, Leila and Kim, Jeeseop and Ames, Aaron D. and Akbari Hamed, Kaveh",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234108951",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118469,
    title ="Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches",
    author = "Kim, Jeeseop and Fawcett, Randall T. and Kamidi, Vinay R. and Ames, Aaron D. and Akbari Hamed, Kaveh",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234105589",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118468,
    title ="Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows",
    author = "Badithela, Apurva and Graebener, Josefine B. and Ubellacker, Wyatt and Mazumdar, Eric V. and Ames, Aaron D. and Murray, Richard M.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234102223",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118467,
    title ="Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control",
    author = "Gehlhar, Rachel and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234058866",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118466,
    title ="Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors",
    author = "Csomay-Shanklin, Noel and Dorobantu, Victor D. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234055506",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118465,
    title ="Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization",
    author = "Tucker, Maegan and Csomay-Shanklin, Noel and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118464,
    title ="Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking",
    author = "Dai, Min and Xiong, Xiaobin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234048774",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118472,
    title ="POLAR: Preference Optimization and Learning Algorithms for Robotics",
    author = "Tucker, Maegan and Li, Kejun and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "August",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234115665",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/118463,
    title ="Safe Drone Flight with Time-Varying Backup Controllers",
    author = "Singletary, Andrew and Swann, Aiden and Jimenez Rodriguez, Ivan Dario and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "July",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234045414",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115567,
    title ="Control Barrier Functionals: Safety-critical Control for Time Delay Systems",
    author = "Kiss, Adam K. and Molnár, Tamás G. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "June",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194319224",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115566,
    title ="Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles",
    author = "Alan, Anil and Taylor, Andrew J. and He, Chaozhe R. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "June",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194315874",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115565,
    title ="Input-to-State Safety with Input Delay in Longitudinal Vehicle Control",
    author = "Molnár, Tamás G. and Alan, Anil and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "May",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194311772",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115563,
    title ="Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification",
    author = "Akella, Prithvi and Dixit, Anushri and Ahmadi, Mohamadreza and Burdick, Joel W. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194303859",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115561,
    title ="Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization",
    author = "Ong, Pio and Bahati, Gilbert and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194256328",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115559,
    title ="Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions",
    author = "Csomay-Shanklin, Noel and Taylor, Andrew J. and Rosolia, Ugo and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/115560,
    title ="Safe Backstepping with Control Barrier Functions",
    author = "Taylor, Andrew J. and Ong, Pio and Molnár, Tamás G. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "April",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194252464",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/114094,
    title ="Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models",
    author = "Taylor, Andrew J. and Dorobantu, Victor D. and Cosner, Ryan K. and Yue, Yisong and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "March",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-224027516",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/114095,
    title ="Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics",
    author = "Galliker, Manuel Y. and Csomay-Shanklin, Noel and Grandia, Ruben and Taylor, Andrew J. and Farshidian, Farbod and Hutter, Marco and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "March",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-224420513",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/114092,
    title ="Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision",
    author = "Cosner, Ryan K. and Jimenez Rodriguez, Ivan D. and Molnar, Tamas G. and Ubellacker, Wyatt and Yue, Yisong and Ames, Aaron D. and Bouman, Katherine L.",
    journal = "arXiv",
    
    
    
    month = "March",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-220806703",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113606,
    title ="LyaNet: A Lyapunov Framework for Training Neural ODEs",
    author = "Jimenez Rodriguez, Ivan Dario and Ames, Aaron D. and Yue, Yisong",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200943137",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113590,
    title ="Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification",
    author = "Akella, Prithvi and Ubellacker, Wyatt and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "January",
    year = "2022",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200847369",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113589,
    title ="Safety-Aware Preference-Based Learning for Safety-Critical Control",
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    journal = "arXiv",
    
    
    
    month = "December",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200843937",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113588,
    title ="Safety-Critical Control with Input Delay in Dynamic Environment",
    author = "Molnar, Tamas G. and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor",
    journal = "arXiv",
    
    
    
    month = "December",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200840486",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113582,
    title ="Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments",
    author = "Johansson, Kasper and Rosolia, Ugo and Ubellacker, Wyatt and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200818977",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/113580,
    title ="Risk-Averse Decision Making Under Uncertainty",
    author = "Ahmadi, Mohamadreza and Rosolia, Ugo and Ingham, Michel D. and Murray, Richard M. and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200812106",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109987,
    title ="Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking",
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    month = "July",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210722-222549674",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/109394,
    title ="Model-Dependent Prosthesis Control with Real-Time Force Sensing",
    author = "Gehlhar, Rachel and Yang, Je-han and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "May",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210604-142538125",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108310,
    title ="Learning Controller Gains on Bipedal Walking Robots via User Preferences",
    author = "Csomay-Shanklin, Noel and Tucker, Maegan and Dai, Min and Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "February",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210304-095906281",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108199,
    title ="3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization",
    author = "Xiong, Xiaobin and Ames, Aaron",
    journal = "arXiv",
    
    
    
    month = "January",
    year = "2021",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132701566",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/108198,
    title ="Unified Multi-Rate Control: from Low Level Actuation to High Level Planning",
    author = "Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "December",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132658094",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107612,
    title ="Lidar-based exploration and discretization for mobile robot planning",
    author = "Chen, Yuxiao and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165238517",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/107616,
    title ="Reactive motion planning with probabilistic safety guarantees",
    author = "Chen, Yuxiao and Rosolia, Ugo and Fan, Chuchu and Ames, Aaron D. and Murray, Richard",
    journal = "arXiv",
    
    
    
    month = "November",
    year = "2020",
    
    
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106552,
    title ="Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions",
    author = "Dean, Sarah and Taylor, Andrew J. and Cosner, Ryan K. and Recht, Benjamin and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
    year = "2020",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140938872",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106548,
    title ="Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance",
    author = "Singletary, Andrew and Klingebiel, Karl and Bourne, Joseph and Browning, Andrew and Tokumaru, Phil and Ames, Aaron",
    journal = "arXiv",
    
    
    
    month = "October",
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    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140932047",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106566,
    title ="Dynamic Walking: Toward Agile and Efficient Bipedal Robots",
    author = "Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "October",
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/106544,
    title ="Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization",
    author = "Akella, Prithvi and Rosolia, Ugo and Singletary, Andrew and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100587,
    title ="Stabilization of Exoskeletons through Active Ankle Compensation",
    author = "Gurriet, Thomas and Tucker, Maegan and Kann, Claudia and Boeris, Guilhem and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "September",
    year = "2019",
    
    
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-094832526",
}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/100593,
    title ="Control of Separable Subsystems with Application to Prostheses",
    author = "Gehlhar, Rachel and Reher, Jenna and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/94623,
    title ="Duality between density function and value function with applications in constrained optimal control and Markov Decision Process",
    author = "Chen, Yuxiao and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92570,
    title ="Input to State Stability of Bipedal Walking Robots: Application to DURUS",
    author = "Kolathaya, Shishir and Reher, Jacob and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
    month = "January",
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92613,
    title ="Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments",
    author = "Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen",
    journal = "arXiv",
    
    
    
    month = "February",
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92612,
    title ="Traversing Environments Using Possibility Graphs with Multiple Action Types",
    author = "Grey, Michael X. and Liu, C. Karen and Ames, Aaron D.",
    journal = "arXiv",
    
    
    
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92608,
    title ="Traversing Environments Using Possibility Graphs for Humanoid Robots",
    author = "Grey, Michael X. and Ames, Aaron D. and Liu, C. Karen",
    journal = "arXiv",
    
    
    
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92607,
    title ="System Identification and Control of Valkyrie through SVA--Based Regressor Computation",
    author = "Kolathaya, Shishir and Morris, Benjamin J. and Sinnet, Ryan W. and Ames, Aaron D.",
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    month = "August",
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}
@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92606,
    title ="Safe, Remote-Access Swarm Robotics Research on the Robotarium",
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    journal = "arXiv",
    
    
    
    month = "April",
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@article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92605,
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    journal = "arXiv",
    
    
    
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}
@techreport {CaltechCDSTR_https://authors.library.caltech.edu/id/eprint/28135,
    title ="Stability of Zeno Equilibria in Lagrangian Hybrid Systems",
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    pages = "1322-1336",
    month = "August",
    year = "2008",
    
    
    url = "https://resolver.caltech.edu/CaltechCDSTR:2008.002",
}