Ames, Aaron D

(orcid 0000-0003-0848-3177)

Reports and Papers from CaltechAUTHORS

• Akella, Prithvi; Wei, Skylar X. et al. (2022) Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234112304

• Fawcett, Randall T.; Amanzadeh, Leila et al. (2022) Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234108951

• Kim, Jeeseop; Fawcett, Randall T. et al. (2022) Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234105589

• Badithela, Apurva; Graebener, Josefine B. et al. (2022) Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234102223

• Gehlhar, Rachel; Ames, Aaron D. (2022) Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234058866

• Csomay-Shanklin, Noel; Dorobantu, Victor D. et al. (2022) Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234055506

• Tucker, Maegan; Csomay-Shanklin, Noel et al. (2022) Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140

• Dai, Min; Xiong, Xiaobin et al. (2022) Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234048774

• Tucker, Maegan; Li, Kejun et al. (2022) POLAR: Preference Optimization and Learning Algorithms for Robotics arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234115665

• Singletary, Andrew; Swann, Aiden et al. (2022) Safe Drone Flight with Time-Varying Backup Controllers arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20221219-234045414

• Kiss, Adam K.; Molnár, Tamás G. et al. (2022) Control Barrier Functionals: Safety-critical Control for Time Delay Systems arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194319224

• Alan, Anil; Taylor, Andrew J. et al. (2022) Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194315874

• Molnár, Tamás G.; Alan, Anil et al. (2022) Input-to-State Safety with Input Delay in Longitudinal Vehicle Control arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194311772

• Akella, Prithvi; Dixit, Anushri et al. (2022) Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194303859

• Ong, Pio; Bahati, Gilbert et al. (2022) Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194256328

• Csomay-Shanklin, Noel; Taylor, Andrew J. et al. (2022) Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368

• Taylor, Andrew J.; Ong, Pio et al. (2022) Safe Backstepping with Control Barrier Functions arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220714-194252464

• Taylor, Andrew J.; Dorobantu, Victor D. et al. (2022) Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220325-224027516

• Galliker, Manuel Y.; Csomay-Shanklin, Noel et al. (2022) Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220325-224420513

• Cosner, Ryan K.; Jimenez Rodriguez, Ivan D. et al. (2022) Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220325-220806703

• Jimenez Rodriguez, Ivan Dario; Ames, Aaron D. et al. (2022) LyaNet: A Lyapunov Framework for Training Neural ODEs arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220224-200943137

• Akella, Prithvi; Ubellacker, Wyatt et al. (2022) Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220224-200847369

• Cosner, Ryan K.; Tucker, Maegan et al. (2021) Safety-Aware Preference-Based Learning for Safety-Critical Control arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220224-200843937

• Molnar, Tamas G.; Kiss, Adam K. et al. (2021) Safety-Critical Control with Input Delay in Dynamic Environment arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220224-200840486

• Johansson, Kasper; Rosolia, Ugo et al. (2021) Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220224-200818977

• Ahmadi, Mohamadreza; Rosolia, Ugo et al. (2021) Risk-Averse Decision Making Under Uncertainty arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20220224-200812106

• Reher, Jenna; Ames, Aaron D. (2021) Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking https://resolver.caltech.edu/CaltechAUTHORS:20210722-222549674

• Gehlhar, Rachel; Yang, Je-han et al. (2021) Model-Dependent Prosthesis Control with Real-Time Force Sensing arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20210604-142538125

• Csomay-Shanklin, Noel; Tucker, Maegan et al. (2021) Learning Controller Gains on Bipedal Walking Robots via User Preferences arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20210304-095906281

• Xiong, Xiaobin; Ames, Aaron (2021) 3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20210225-132701566

• Rosolia, Ugo; Singletary, Andrew et al. (2020) Unified Multi-Rate Control: from Low Level Actuation to High Level Planning arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20210225-132658094

• Chen, Yuxiao; Singletary, Andrew et al. (2020) Lidar-based exploration and discretization for mobile robot planning arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20210120-165238517

• Chen, Yuxiao; Rosolia, Ugo et al. (2020) Reactive motion planning with probabilistic safety guarantees arXiv; In: 4th Conference on Robot Learning (CoRL 2020), 16-18 November 2020, Cambridge, MA https://resolver.caltech.edu/CaltechAUTHORS:20210120-165252232

• Dean, Sarah; Taylor, Andrew J. et al. (2020) Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20201109-140938872

• Singletary, Andrew; Klingebiel, Karl et al. (2020) Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20201109-140932047

• Reher, Jenna; Ames, Aaron D. (2020) Dynamic Walking: Toward Agile and Efficient Bipedal Robots arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20201109-155514089

• Akella, Prithvi; Rosolia, Ugo et al. (2020) Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20201109-140925178

• Gurriet, Thomas; Tucker, Maegan et al. (2019) Stabilization of Exoskeletons through Active Ankle Compensation arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20200109-094832526

• Gehlhar, Rachel; Reher, Jenna et al. (2019) Control of Separable Subsystems with Application to Prostheses arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20200109-104408294

• Chen, Yuxiao; Ames, Aaron D. (2019) Duality between density function and value function with applications in constrained optimal control and Markov Decision Process arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190410-120558713

• Kolathaya, Shishir; Reher, Jacob et al. (2018) Input to State Stability of Bipedal Walking Robots: Application to DURUS arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491

• Grey, Michael X.; Ames, Aaron D. et al. (2017) Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-160913893

• Grey, Michael X.; Liu, C. Karen et al. (2016) Traversing Environments Using Possibility Graphs with Multiple Action Types arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-160909756

• Grey, Michael X.; Ames, Aaron D. et al. (2016) Traversing Environments Using Possibility Graphs for Humanoid Robots arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-160859446

• Kolathaya, Shishir; Morris, Benjamin J. et al. (2016) System Identification and Control of Valkyrie through SVA--Based Regressor Computation arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-160856010

• Pickem, Daniel; Wang, Li et al. (2016) Safe, Remote-Access Swarm Robotics Research on the Robotarium arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-160852451

• Galloway, Kevin; Sreenath, Koushil et al. (2013) Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs arXiv; https://resolver.caltech.edu/CaltechAUTHORS:20190201-160848999

• Or, Yizhar; Ames, Aaron D. (2008) Stability of Zeno Equilibria in Lagrangian Hybrid Systems IEEE Transactions on Automatic Control; Vol. 56; https://resolver.caltech.edu/CaltechCDSTR:2008.002