Ames, Aaron

Monograph from CaltechAUTHORS

• Akella, Prithvi and Ubellacker, Wyatt, el al. (2023) Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
• Molnar, Tamás G. and Ames, Aaron D. (2023) Safety-Critical Control with Bounded Inputs via Reduced Order Models
• Li, Albert H. and Culbertson, Preston, el al. (2023) FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
• Akella, Prithvi and Ahmadi, Mohamadreza, el al. (2023) Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications
• Akella, Prithvi and Wei, Skylar X., el al. (2022) Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data; 10.48550/arXiv.2212.06253
• Fawcett, Randall T. and Amanzadeh, Leila, el al. (2022) Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion; 10.48550/arXiv.2211.06917
• Kim, Jeeseop and Fawcett, Randall T., el al. (2022) Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches; 10.48550/arXiv.2211.06913
• Badithela, Apurva and Graebener, Josefine B., el al. (2022) Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows; 10.48550/arXiv.2210.10304
• Gehlhar, Rachel and Ames, Aaron D. (2022) Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control; 10.48550/arXiv.2209.13739
• Csomay-Shanklin, Noel and Dorobantu, Victor D., el al. (2022) Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors; 10.48550/arXiv.2209.11808
• Tucker, Maegan and Csomay-Shanklin, Noel, el al. (2022) Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization; 10.48550/arXiv.2209.10452
• Dai, Min and Xiong, Xiaobin, el al. (2022) Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking; 10.48550/arXiv.2209.08458
• Tucker, Maegan and Li, Kejun, el al. (2022) POLAR: Preference Optimization and Learning Algorithms for Robotics; 10.48550/arXiv.2208.04404
• Singletary, Andrew and Swann, Aiden, el al. (2022) Safe Drone Flight with Time-Varying Backup Controllers; 10.48550/arXiv.2207.05220
• Kiss, Adam K. and Molnár, Tamás G., el al. (2022) Control Barrier Functionals: Safety-critical Control for Time Delay Systems; 10.48550/arXiv.arXiv.2206.08409
• Alan, Anil and Taylor, Andrew J., el al. (2022) Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles; 10.48550/arXiv.arXiv.2206.03568
• Ong, Pio and Bahati, Gilbert, el al. (2022) Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization; 10.48550/arXiv.arXiv.2204.03110
• Csomay-Shanklin, Noel and Taylor, Andrew J., el al. (2022) Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions; 10.48550/arXiv.arXiv.2204.00152
• Taylor, Andrew J. and Ong, Pio, el al. (2022) Safe Backstepping with Control Barrier Functions; 10.48550/arXiv.arXiv.2204.00653
• Taylor, Andrew J. and Dorobantu, Victor D., el al. (2022) Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models; 10.48550/arXiv.2203.11470
• Galliker, Manuel Y. and Csomay-Shanklin, Noel, el al. (2022) Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics; 10.48550/arXiv.2203.07429
• Cosner, Ryan K. and Jimenez Rodriguez, Ivan D., el al. (2022) Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision; 10.48550/arXiv.2203.01404
• Jimenez Rodriguez, Ivan Dario and Ames, Aaron D., el al. (2022) LyaNet: A Lyapunov Framework for Training Neural ODEs; 10.48550/arXiv.2202.02526
• Akella, Prithvi and Ubellacker, Wyatt, el al. (2022) Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification; 10.48550/arXiv.2201.01323
• Molnar, Tamas G. and Kiss, Adam K., el al. (2021) Safety-Critical Control with Input Delay in Dynamic Environment; 10.48550/arXiv.2112.08445
• Cosner, Ryan K. and Tucker, Maegan, el al. (2021) Safety-Aware Preference-Based Learning for Safety-Critical Control; 10.48550/arXiv.2112.08516
• Johansson, Kasper and Rosolia, Ugo, el al. (2021) Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments; 10.48550/arXiv.2110.01002
• Ahmadi, Mohamadreza and Rosolia, Ugo, el al. (2021) Risk-Averse Decision Making Under Uncertainty; 10.48550/arXiv.2109.04082
• Reher, Jenna and Ames, Aaron D. (2021) Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking; 10.48550/arXiv.2107.04241
• Gehlhar, Rachel and Yang, Je-han, el al. (2021) Model-Dependent Prosthesis Control with Real-Time Force Sensing; 10.48550/arXiv.2105.11561
• Csomay-Shanklin, Noel and Tucker, Maegan, el al. (2021) Learning Controller Gains on Bipedal Walking Robots via User Preferences; 10.48550/arXiv.2102.13201v1
• Xiong, Xiaobin and Ames, Aaron (2021) 3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization; 10.48550/arXiv.2101.09588
• Rosolia, Ugo and Singletary, Andrew, el al. (2020) Unified Multi-Rate Control: from Low Level Actuation to High Level Planning; 10.48550/arXiv.2012.06558
• Chen, Yuxiao and Singletary, Andrew, el al. (2020) Lidar-based exploration and discretization for mobile robot planning; 10.48550/arXiv.2011.10066
• Chen, Yuxiao and Rosolia, Ugo, el al. (2020) Reactive motion planning with probabilistic safety guarantees; 10.48550/arXiv.2011.03590
• Dean, Sarah and Taylor, Andrew J., el al. (2020) Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions; 10.48550/arXiv.2010.16001
• Singletary, Andrew and Klingebiel, Karl, el al. (2020) Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance; 10.48550/arXiv.2010.09819
• Reher, Jenna and Ames, Aaron D. (2020) Dynamic Walking: Toward Agile and Efficient Bipedal Robots; 10.48550/arXiv.2010.07451
• Akella, Prithvi and Rosolia, Ugo, el al. (2020) Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization; 10.48550/arXiv.2009.12909
• Gurriet, Thomas and Tucker, Maegan, el al. (2019) Stabilization of Exoskeletons through Active Ankle Compensation; 10.48550/arXiv.1909.11848
• Gehlhar, Rachel and Reher, Jenna, el al. (2019) Control of Separable Subsystems with Application to Prostheses; 10.48550/arXiv.1909.03102
• Chen, Yuxiao and Ames, Aaron D. (2019) Duality between density function and value function with applications in constrained optimal control and Markov Decision Process; 10.48550/arXiv.1902.09583
• Kolathaya, Shishir and Reher, Jacob, el al. (2018) Input to State Stability of Bipedal Walking Robots: Application to DURUS; 10.48550/arXiv.1801.00618
• Grey, Michael X. and Ames, Aaron D., el al. (2017) Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments; 10.48550/arXiv.1702.00425
• Grey, Michael X. and Liu, C. Karen, el al. (2016) Traversing Environments Using Possibility Graphs with Multiple Action Types; 10.48550/arXiv.1610.00701
• Grey, Michael X. and Ames, Aaron D., el al. (2016) Traversing Environments Using Possibility Graphs for Humanoid Robots; 10.48550/arXiv.1608.03845
• Kolathaya, Shishir and Morris, Benjamin J., el al. (2016) System Identification and Control of Valkyrie through SVA--Based Regressor Computation; 10.48550/arXiv.1608.02683v3
• Pickem, Daniel and Wang, Li, el al. (2016) Safe, Remote-Access Swarm Robotics Research on the Robotarium; 10.48550/arXiv.1604.00640
• Galloway, Kevin and Sreenath, Koushil, el al. (2013) Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs; 10.48550/arXiv.1302.7314
• Or, Yizhar and Ames, Aaron D. (2008) Stability of Zeno Equilibria in Lagrangian Hybrid Systems