@other{https://resolver.caltech.edu/CaltechAUTHORS:20230316-204052735,
    title = "FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric",
    year = "2023",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20230316-204052735",
    id = "record"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20230316-204032253,
    title = "Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications",
    year = "2023",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20230316-204032253",
    id = "record"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20230316-204039111,
    title = "Safety-Critical Control with Bounded Inputs via Reduced Order Models",
    year = "2023",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20230316-204039111",
    id = "record"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20230316-204042522,
    title = "Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control",
    year = "2023",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20230316-204042522",
    id = "record"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234102223,
    title = "Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234102223",
    id = "record",
    doi = "10.48550/arXiv.2210.10304"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234115665,
    title = "POLAR: Preference Optimization and Learning Algorithms for Robotics",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234115665",
    id = "record",
    doi = "10.48550/arXiv.2208.04404"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234058866,
    title = "Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234058866",
    id = "record",
    doi = "10.48550/arXiv.2209.13739"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234055506,
    title = "Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234055506",
    id = "record",
    doi = "10.48550/arXiv.2209.11808"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234045414,
    title = "Safe Drone Flight with Time-Varying Backup Controllers",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234045414",
    id = "record",
    doi = "10.48550/arXiv.2207.05220"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140,
    title = "Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140",
    id = "record",
    doi = "10.48550/arXiv.2209.10452"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234112304,
    title = "Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234112304",
    id = "record",
    doi = "10.48550/arXiv.2212.06253"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234108951,
    title = "Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234108951",
    id = "record",
    doi = "10.48550/arXiv.2211.06917"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234048774,
    title = "Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234048774",
    id = "record",
    doi = "10.48550/arXiv.2209.08458"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20221219-234105589,
    title = "Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20221219-234105589",
    id = "record",
    doi = "10.48550/arXiv.2211.06913"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220714-194256328,
    title = "Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194256328",
    id = "record",
    doi = "10.48550/arXiv.arXiv.2204.03110"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220714-194315874,
    title = "Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194315874",
    id = "record",
    doi = "10.48550/arXiv.arXiv.2206.03568"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220714-194311772,
    title = "Input-to-State Safety with Input Delay in Longitudinal Vehicle Control",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194311772",
    id = "record",
    doi = "10.48550/arXiv.arXiv.2205.14567"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220714-194319224,
    title = "Control Barrier Functionals: Safety-critical Control for Time Delay Systems",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194319224",
    id = "record",
    doi = "10.48550/arXiv.arXiv.2206.08409"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368,
    title = "Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368",
    id = "record",
    doi = "10.48550/arXiv.arXiv.2204.00152"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220714-194252464,
    title = "Safe Backstepping with Control Barrier Functions",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220714-194252464",
    id = "record",
    doi = "10.48550/arXiv.arXiv.2204.00653"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220325-224420513,
    title = "Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-224420513",
    id = "record",
    doi = "10.48550/arXiv.2203.07429"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220325-224027516,
    title = "Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-224027516",
    id = "record",
    doi = "10.48550/arXiv.2203.11470"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220325-220806703,
    title = "Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220325-220806703",
    id = "record",
    doi = "10.48550/arXiv.2203.01404"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220224-200843937,
    title = "Safety-Aware Preference-Based Learning for Safety-Critical Control",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200843937",
    id = "record",
    doi = "10.48550/arXiv.2112.08516"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220224-200847369,
    title = "Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200847369",
    id = "record",
    doi = "10.48550/arXiv.2201.01323"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220224-200818977,
    title = "Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200818977",
    id = "record",
    doi = "10.48550/arXiv.2110.01002"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220224-200812106,
    title = "Risk-Averse Decision Making Under Uncertainty",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200812106",
    id = "record",
    doi = "10.48550/arXiv.2109.04082"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220224-200840486,
    title = "Safety-Critical Control with Input Delay in Dynamic Environment",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200840486",
    id = "record",
    doi = "10.48550/arXiv.2112.08445"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20220224-200943137,
    title = "LyaNet: A Lyapunov Framework for Training Neural ODEs",
    year = "2022",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20220224-200943137",
    id = "record",
    doi = "10.48550/arXiv.2202.02526"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210722-222549674,
    title = "Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210722-222549674",
    id = "record",
    doi = "10.48550/arXiv.2107.04241"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210604-142538125,
    title = "Model-Dependent Prosthesis Control with Real-Time Force Sensing",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210604-142538125",
    id = "record",
    doi = "10.48550/arXiv.2105.11561"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210304-095906281,
    title = "Learning Controller Gains on Bipedal Walking Robots via User Preferences",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210304-095906281",
    id = "record",
    doi = "10.48550/arXiv.2102.13201v1"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210225-132701566,
    title = "3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132701566",
    id = "record",
    doi = "10.48550/arXiv.2101.09588"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210225-132658094,
    title = "Unified Multi-Rate Control: from Low Level Actuation to High Level Planning",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210225-132658094",
    id = "record",
    doi = "10.48550/arXiv.2012.06558"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210120-165238517,
    title = "Lidar-based exploration and discretization for mobile robot planning",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165238517",
    id = "record",
    doi = "10.48550/arXiv.2011.10066"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20210120-165252232,
    title = "Reactive motion planning with probabilistic safety guarantees",
    year = "2021",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165252232",
    id = "record",
    doi = "10.48550/arXiv.2011.03590"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20201109-155514089,
    title = "Dynamic Walking: Toward Agile and Efficient Bipedal Robots",
    year = "2020",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-155514089",
    id = "record",
    doi = "10.48550/arXiv.2010.07451"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20201109-140938872,
    title = "Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions",
    year = "2020",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140938872",
    id = "record",
    doi = "10.48550/arXiv.2010.16001"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20201109-140925178,
    title = "Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization",
    year = "2020",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140925178",
    id = "record",
    doi = "10.48550/arXiv.2009.12909"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20201109-140932047,
    title = "Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance",
    year = "2020",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140932047",
    id = "record",
    doi = "10.48550/arXiv.2010.09819"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20200109-094832526,
    title = "Stabilization of Exoskeletons through Active Ankle Compensation",
    year = "2020",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-094832526",
    id = "record",
    doi = "10.48550/arXiv.1909.11848"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20200109-104408294,
    title = "Control of Separable Subsystems with Application to Prostheses",
    year = "2020",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-104408294",
    id = "record",
    doi = "10.48550/arXiv.1909.03102"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190410-120558713,
    title = "Duality between density function and value function with applications in constrained optimal control and Markov Decision Process",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190410-120558713",
    id = "record",
    doi = "10.48550/arXiv.1902.09583"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160852451,
    title = "Safe, Remote-Access Swarm Robotics Research on the Robotarium",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160852451",
    id = "record",
    doi = "10.48550/arXiv.1604.00640"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160859446,
    title = "Traversing Environments Using Possibility Graphs for Humanoid Robots",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160859446",
    id = "record",
    doi = "10.48550/arXiv.1608.03845"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160856010,
    title = "System Identification and Control of Valkyrie through SVA--Based Regressor Computation",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160856010",
    id = "record",
    doi = "10.48550/arXiv.1608.02683v3"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756,
    title = "Traversing Environments Using Possibility Graphs with Multiple Action Types",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756",
    id = "record",
    doi = "10.48550/arXiv.1610.00701"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160848999,
    title = "Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160848999",
    id = "record",
    doi = "10.48550/arXiv.1302.7314"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-160913893,
    title = "Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160913893",
    id = "record",
    doi = "10.48550/arXiv.1702.00425"
}


@other{https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491,
    title = "Input to State Stability of Bipedal Walking Robots: Application to DURUS",
    year = "2019",
    url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491",
    id = "record",
    doi = "10.48550/arXiv.1801.00618"
}


@other{https://resolver.caltech.edu/CaltechCDSTR:2008.002,
    title = "Stability of Zeno Equilibria in Lagrangian Hybrid Systems",
    year = "2008",
    url = "https://resolver.caltech.edu/CaltechCDSTR:2008.002",
    id = "record"
}