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09/13/2023
Composing Control Barrier Functions for Complex Safety Specifications
The increasing complexity of control systems necessitates control laws t...
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08/31/2023
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions
Connected automated vehicles have shown great potential to improve the e...
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08/21/2023
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics
Selecting robot design parameters can be challenging since these paramet...
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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...
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04/28/2023
Input-to-State Stability in Probability
Input-to-State Stability (ISS) is fundamental in mathematically quantify...
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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...
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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...
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03/17/2023
An Input-to-State Stability Perspective on Robust Locomotion
Uneven terrain necessarily transforms periodic walking into a non-period...
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03/11/2023
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
Leveraging recent developments in black-box risk-aware verification, we ...
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03/06/2023
Safety-Critical Control with Bounded Inputs via Reduced Order Models
Guaranteeing safe behavior on complex autonomous systems – from cars to ...
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02/27/2023
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
Many approaches to grasp synthesis optimize analytic quality metrics tha...
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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...
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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 ...
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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...
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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 ...
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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...
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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...
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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...
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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...
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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...
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08/08/2022
POLAR: Preference Optimization and Learning Algorithms for Robotics
Parameter tuning for robotic systems is a time-consuming and challenging...
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07/11/2022
Safe Drone Flight with Time-Varying Backup Controllers
The weight, space, and power limitations of small aerial vehicles often ...
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06/16/2022
Control Barrier Functionals: Safety-critical Control for Time Delay Systems
This work presents a theoretical framework for the safety-critical contr...
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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...
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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...
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05/02/2022
Safety-Critical Manipulation for Collision-Free Food Preparation
Recent advances allow for the automation of food preparation in high-thr...
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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...
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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...
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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...
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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 ...
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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...
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02/05/2022
LyaNet: A Lyapunov Framework for Training Neural ODEs
We propose a method for training ordinary differential equations by usin...
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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...
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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 ...
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12/15/2021
Safety-Aware Preference-Based Learning for Safety-Critical Control
Bringing dynamic robots into the wild requires a tenuous balance between...
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12/15/2021
Safety-Critical Control with Input Delay in Dynamic Environment
Endowing nonlinear systems with safe behavior is increasingly important ...
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10/03/2021
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
This paper considers centralized mission-planning for a heterogeneous mu...
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09/19/2021
Model-Free Safety-Critical Control for Robotic Systems
This paper presents a framework for the safety-critical control of robot...
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09/10/2021
Interactive multi-modal motion planning with Branch Model Predictive Control
Motion planning for autonomous robots and vehicles in presence of uncont...
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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...
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09/09/2021
Risk-Averse Decision Making Under Uncertainty
A large class of decision making under uncertainty problems can be descr...
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07/09/2021
Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking
The ability to realize nonlinear controllers with formal guarantees on d...
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06/18/2021
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Functional autonomous systems often realize complex tasks by utilizing s...
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05/24/2021
Model-Dependent Prosthesis Control with Real-Time Force Sensing
Lower-limb prosthesis wearers are more prone to fall than non-amputees. ...
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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...
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03/26/2021
Risk-Averse Stochastic Shortest Path Planning
We consider the stochastic shortest path planning problem in MDPs, i.e.,...
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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...
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02/25/2021
Learning Controller Gains on Bipedal Walking Robots via User Preferences
Experimental demonstration of complex robotic behaviors relies heavily o...
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12/04/2020
Constrained Risk-Averse Markov Decision Processes
We consider the problem of designing policies for Markov decision proces...
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11/21/2020