@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", author = "Cosner, Ryan K. and Tucker, Maegan and Taylor, Andrew J. and Li, Kejun and Molnár, Tamás G. and Ubellacker, Wyatt and Alan, Anil and Orosz, Gábor and Yue, Yisong and Ames, Aaron D.", journal = "arXiv", month = "December", year = "2021", 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", year = "2021", 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", year = "2021", 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", author = "Reher, Jenna and Ames, Aaron D.", month = "July", year = "2021", 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", url = "https://resolver.caltech.edu/CaltechAUTHORS:20210120-165252232", } @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", year = "2020", 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", year = "2020", url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-155514089", } @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", year = "2020", url = "https://resolver.caltech.edu/CaltechAUTHORS:20201109-140925178", } @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", month = "September", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20200109-104408294", } @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", month = "February", year = "2019", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190410-120558713", } @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", year = "2018", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491", } @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", year = "2017", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160913893", } @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", month = "October", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756", } @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", month = "August", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160859446", } @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.", journal = "arXiv", month = "August", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160856010", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92606, title ="Safe, Remote-Access Swarm Robotics Research on the Robotarium", author = "Pickem, Daniel and Wang, Li and Glotfelter, Paul and Diaz-Mercado, Yancy and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus", journal = "arXiv", month = "April", year = "2016", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160852451", } @article {CaltechAUTHORS_https://authors.library.caltech.edu/id/eprint/92605, title ="Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs", author = "Galloway, Kevin and Sreenath, Koushil and Ames, Aaron D. and Grizzle, J. W.", journal = "arXiv", month = "February", year = "2013", url = "https://resolver.caltech.edu/CaltechAUTHORS:20190201-160848999", } @techreport {CaltechCDSTR_https://authors.library.caltech.edu/id/eprint/28135, title ="Stability of Zeno Equilibria in Lagrangian Hybrid Systems", author = "Or, Yizhar and Ames, Aaron D.", journal = "IEEE Transactions on Automatic Control", volume = "56", pages = "1322-1336", month = "August", year = "2008", url = "https://resolver.caltech.edu/CaltechCDSTR:2008.002", }