b'Aaron D. Ames'

research

∙ 05/06/2023

Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots

The safety-critical control of robotic systems often must account for mu...

0 Jaemin Lee, et al. ∙

research

∙ 04/28/2023

Input-to-State Stability in Probability

Input-to-State Stability (ISS) is fundamental in mathematically quantify...

0 Preston Culbertson, et al. ∙

research

∙ 04/07/2023

Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems

Efficient methods to provide sub-optimal solutions to non-convex optimiz...

0 Prithvi Akella, et al. ∙

research

∙ 03/23/2023

Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions

This paper presents a safety-critical approach to the coordinated contro...

0 Jeeseop Kim, et al. ∙

research

∙ 03/17/2023

An Input-to-State Stability Perspective on Robust Locomotion

Uneven terrain necessarily transforms periodic walking into a non-period...

0 Maegan Tucker, et al. ∙

research

∙ 03/11/2023

Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control

Leveraging recent developments in black-box risk-aware verification, we ...

0 Prithvi Akella, et al. ∙

research

∙ 03/06/2023

Safety-Critical Control with Bounded Inputs via Reduced Order Models

Guaranteeing safe behavior on complex autonomous systems – from cars to ...

0 Tamás G. Molnár, et al. ∙

research

∙ 02/27/2023

FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric

Many approaches to grasp synthesis optimize analytic quality metrics tha...

0 Albert H. Li, et al. ∙

research

∙ 01/23/2023

Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications

We propose an adversarial, time-varying test-synthesis procedure for saf...

0 Prithvi Akella, et al. ∙

research

∙ 12/12/2022

Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data

Recent advances in safety-critical risk-aware control are predicated on ...

0 Prithvi Akella, et al. ∙

research

∙ 11/13/2022

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion

The aim of this work is to define a planner that enables robust legged l...

0 Randall T Fawcett, et al. ∙

research

∙ 11/13/2022

Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

This paper presents a layered control approach for real-time trajectory ...

0 Jeeseop Kim, et al. ∙

research

∙ 10/19/2022

Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows

We study automated test generation for verifying discrete decision-makin...

0 Apurva Badithela, et al. ∙

research

∙ 09/27/2022

Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control

Ankle push-off largely contributes to limb energy generation in human wa...

0 Rachel Gehlhar, et al. ∙

research

∙ 09/23/2022

Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors

Achieving stable hopping has been a hallmark challenge in the field of d...

0 Noel Csomay-Shanklin, et al. ∙

research

∙ 09/21/2022

Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

The ability to generate robust walking gaits on bipedal robots is key to...

0 Maegan Tucker, et al. ∙

research

∙ 09/18/2022

Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking

This paper presents a framework for synthesizing bipedal robotic walking...

0 Min Dai, et al. ∙

research

∙ 08/08/2022

POLAR: Preference Optimization and Learning Algorithms for Robotics

Parameter tuning for robotic systems is a time-consuming and challenging...

0 Maegan Tucker, et al. ∙

research

∙ 07/11/2022

Safe Drone Flight with Time-Varying Backup Controllers

The weight, space, and power limitations of small aerial vehicles often ...

0 Andrew Singletary, et al. ∙

research

∙ 06/16/2022

Control Barrier Functionals: Safety-critical Control for Time Delay Systems

This work presents a theoretical framework for the safety-critical contr...

0 Adam K. Kiss, et al. ∙

research

∙ 06/07/2022

Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles

Balancing safety and performance is one of the predominant challenges in...

0 Anil Alan, et al. ∙

research

∙ 05/29/2022

Input-to-State Safety with Input Delay in Longitudinal Vehicle Control

Safe longitudinal control is discussed for a connected automated truck t...

0 Tamás G. Molnár, et al. ∙

research

∙ 05/02/2022

Safety-Critical Manipulation for Collision-Free Food Preparation

Recent advances allow for the automation of food preparation in high-thr...

0 Andrew Singletary, et al. ∙

research

∙ 04/21/2022

Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification

The dramatic increase of autonomous systems subject to variable environm...

0 Prithvi Akella, et al. ∙

research

∙ 04/18/2022

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies

This work presents Neural Gaits, a method for learning dynamic walking g...

0 Ivan Dario Jimenez Rodriguez, et al. ∙

research

∙ 03/22/2022

Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models

Control Barrier Functions (CBFs) have been demonstrated to be a powerful...

0 Andrew J. Taylor, et al. ∙

research

∙ 03/14/2022

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics

The ability to generate dynamic walking in real-time for bipedal robots ...

0 Manuel Y. Galliker, et al. ∙

research

∙ 03/02/2022

Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision

With the increasing prevalence of complex vision-based sensing methods f...

0 Ryan K. Cosner, et al. ∙

research

∙ 02/05/2022

LyaNet: A Lyapunov Framework for Training Neural ODEs

We propose a method for training ordinary differential equations by usin...

9 Ivan Dario Jimenez Rodriguez, et al. ∙

research

∙ 01/12/2022

Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions

This paper details the theory and implementation behind practically ensu...

0 Andrew Singletary, et al. ∙

research

∙ 01/04/2022

Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification

In this letter, the authors propose a two-step approach to evaluate and ...

0 Prithvi Akella, et al. ∙

research

∙ 12/15/2021

Safety-Aware Preference-Based Learning for Safety-Critical Control

Bringing dynamic robots into the wild requires a tenuous balance between...

0 Ryan K. Cosner, et al. ∙

research

∙ 12/15/2021

Safety-Critical Control with Input Delay in Dynamic Environment

Endowing nonlinear systems with safe behavior is increasingly important ...

0 Tamás G. Molnár, et al. ∙

research

∙ 10/03/2021

Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments

This paper considers centralized mission-planning for a heterogeneous mu...

0 Kasper Johansson, et al. ∙

research

∙ 09/19/2021

Model-Free Safety-Critical Control for Robotic Systems

This paper presents a framework for the safety-critical control of robot...

0 Tamás G. Molnár, et al. ∙

research

∙ 09/10/2021

Interactive multi-modal motion planning with Branch Model Predictive Control

Motion planning for autonomous robots and vehicles in presence of uncont...

0 Yuxiao Chen, et al. ∙

research

∙ 09/10/2021

Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics

Generating provably stable walking gaits that yield natural locomotion w...

0 Kejun Li, et al. ∙

research

∙ 09/09/2021

Risk-Averse Decision Making Under Uncertainty

A large class of decision making under uncertainty problems can be descr...

10 Mohamadreza Ahmadi, et al. ∙

research

∙ 07/09/2021

Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking

The ability to realize nonlinear controllers with formal guarantees on d...

0 Jenna Reher, et al. ∙

research

∙ 06/18/2021

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Functional autonomous systems often realize complex tasks by utilizing s...

0 Wyatt Ubellacker, et al. ∙

research

∙ 05/24/2021

Model-Dependent Prosthesis Control with Real-Time Force Sensing

Lower-limb prosthesis wearers are more prone to fall than non-amputees. ...

0 Rachel Gehlhar, et al. ∙

research

∙ 05/04/2021

Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety

This paper combines episodic learning and control barrier functions in t...

0 Noel Csomay-Shanklin, et al. ∙

research

∙ 03/26/2021

Risk-Averse Stochastic Shortest Path Planning

We consider the stochastic shortest path planning problem in MDPs, i.e.,...

0 Mohamadreza Ahmadi, et al. ∙

research

∙ 03/08/2021

Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach

We present a straightforward and efficient way to estimate dynamics mode...

11 Ivan D. Jimenez Rodriguez, et al. ∙

research

∙ 02/25/2021

Learning Controller Gains on Bipedal Walking Robots via User Preferences

Experimental demonstration of complex robotic behaviors relies heavily o...

0 Noel Csomay-Shanklin, et al. ∙

research

∙ 12/04/2020

Constrained Risk-Averse Markov Decision Processes

We consider the problem of designing policies for Markov decision proces...

10 Mohamadreza Ahmadi, et al. ∙

research

∙ 11/21/2020

Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty

Modern nonlinear control theory seeks to endow systems with properties s...

0 Andrew J. Taylor, et al. ∙

research

∙ 11/19/2020

Lidar-based exploration and discretization for mobile robot planning

In robotic applications, the control, and actuation deal with a continuo...

0 Yuxiao Chen, et al. ∙

research

∙ 11/19/2020

Decentralized Task and Path Planning for Multi-Robot Systems

We consider a multi-robot system with a team of collaborative robots and...

0 Yuxiao Chen, et al. ∙

research

∙ 11/10/2020

Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots

This paper presents a framework that unifies control theory and machine ...

0 Maegan Tucker, et al. ∙

Aaron D. Ames

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