Affine Hybrid Systems. - Aaron D. Ames; Shankar Sastry 001 (HSCC, 2004)

Stochastic approximations of hybrid systems. - Alessandro Abate; Aaron D. Ames; S. Shankar Sastry (ACC, 2005)

Characterization of Zeno behavior in hybrid systems using homological methods. - Aaron D. Ames; Shankar Sastry 001 (ACC, 2005)

Sufficient Conditions for the Existence of Zeno Behavior. - Aaron D. Ames; Alessandro Abate; Shankar Sastry 001 (CDC/ECC, 2005)

On the Partitioning of Syntax and Semantics For Hybrid Systems Tools. - Jonathan Sprinkle; Aaron D. Ames; Alessandro Pinto; Haiyang Zheng; S. Shankar Sastry (CDC/ECC, 2005)

A Homology Theory for Hybrid Systems: Hybrid Homology. - Aaron D. Ames; Shankar Sastry 001 (HSCC, 2005)

Online safety calculations for glide-slope recapture. - Jonathan Sprinkle; Aaron D. Ames; J. Mikael Eklund; Ian M. Mitchell; Shankar Sastry 001 (Innov. Syst. Softw. Eng., 2005)

A priori detection of Zeno behavior in communication networks modeled as hybrid systems. - Alessandro Abate; Aaron D. Ames; Shankar Sastry 001 (ACC, 2006)

Error bounds based stochastic approximations and simulations of hybrid dynamical systems. - Alessandro Abate; Aaron D. Ames; Shankar Sastry 001 (ACC, 2006)

Hybrid Routhian reduction of Lagrangian hybrid systems. - Aaron D. Ames; Shankar Sastry 001 (ACC, 2006)

Hybrid cotangent bundle reduction of simple hybrid mechanical systems with symmetry. - Aaron D. Ames; Shankar Sastry 001 (ACC, 2006)

Is there life after Zeno? Taking executions past the breaking (Zeno) point. - Aaron D. Ames; Haiyang Zheng; Robert D. Gregg; Shankar Sastry 001 (ACC, 2006)

Hybrid Geometric Reduction of Hybrid Systems. - Aaron D. Ames; Shankar Sastry 001 (CDC, 2006)

Approximate Reduction of Dynamical Systems. - Paulo Tabuada; Aaron D. Ames; Agung Julius; George J. Pappas (CDC, 2006)

On the Stability of Zeno Equilibria. - Aaron D. Ames; Paulo Tabuada; Shankar Sastry 001 (HSCC, 2006)

Beyond Zeno: Get on with It! - Haiyang Zheng; Edward A. Lee; Aaron D. Ames (HSCC, 2006)

Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. - Aaron D. Ames; Robert D. Gregg (ACC, 2007)

Sufficient conditions for the existence of zeno behavior in a class of nonlinear hybrid systems via constant approximations. - Aaron D. Ames; Alessandro Abate; Shankar Sastry 001 (CDC, 2007)

A geometric approach to three-dimensional hipped bipedal robotic walking. - Aaron D. Ames; Robert D. Gregg; Mark W. Spong (CDC, 2007)

Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems. - Andrew G. Lamperski; Aaron D. Ames (CDC, 2007)

Discrete mechanics and optimal control applied to the compass gait biped. - David Pekarek; Aaron D. Ames; Jerrold E. Marsden (CDC, 2007)

Composition of Dynamical Systems for Estimation of Human Body Dynamics. - Sumitra Ganesh; Aaron D. Ames; Ruzena Bajcsy (HSCC, 2007)

Complexity and fragility in stability for linear systems. - Aaron D. Ames; John C. Doyle 001 (ACC, 2008)

On the existence of Zeno behavior in hybrid systems with non-isolated Zeno equilibria. - Andrew G. Lamperski; Aaron D. Ames (CDC, 2008)

Stability of Zeno equilibria in Lagrangian hybrid systems. - Yizhar Or; Aaron D. Ames (CDC, 2008)

Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems. - Andrew G. Lamperski; Aaron D. Ames (HSCC, 2008)

Approximate reduction of dynamic systems. - Paulo Tabuada; Aaron D. Ames; A. Agung Julius; George J. Pappas (Syst. Control. Lett., 2008)

Formal and practical completion of Lagrangian hybrid systems. - Yizhar Or; Aaron D. Ames (ACC, 2009)

2D bipedal walking with knees and feet: A hybrid control approach. - Ryan W. Sinnet; Aaron D. Ames (CDC, 2009)

3D bipedal walking with knees and feet: A hybrid geometric approach. - Ryan W. Sinnet; Aaron D. Ames (CDC, 2009)

Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach. - Aaron D. Ames; Ryan W. Sinnet; Eric D. B. Wendel (HSCC, 2009)

Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems. - Yizhar Or; Aaron D. Ames (HSCC, 2009)

Rank properties of poincare maps for hybrid systems with applications to bipedal walking. - Eric D. B. Wendel; Aaron D. Ames (HSCC, 2010)

Mathematical equations as executable models of mechanical systems. - Angela Yun Zhu; Edwin M. Westbrook; Jun Inoue 001; Alexandre Chapoutot; Cherif R. Salama; Marisa Linnea Peralta; Travis Martin; Walid Taha; Marcia K. O'Malley; Robert Cartwright; Aaron D. Ames; Raktim Bhattacharya (ICCPS, 2010)

Compass gait revisited: A human data perspective with extensions to three dimensions. - Ryan W. Sinnet; Matthew J. Powell; Shu Jiang; Aaron D. Ames (CDC/ECC, 2011)

Rank deficiency and superstability of hybrid systems with application to bipedal robots. - Eric D. B. Wendel; Aaron D. Ames (CDC/ECC, 2011)

Characterizing knee-bounce in bipedal robotic walking: a zeno behavior approach. - Aaron D. Ames (HSCC, 2011)

Human-data based cost of bipedal robotic walking. - Aaron D. Ames; Ramanarayan Vasudevan; Ruzena Bajcsy (HSCC, 2011)

Simulating Prosthetic Devices with Human-Inspired Hybrid Control. - Ryan W. Sinnet; Huihua Zhao; Aaron D. Ames (IROS, 2011)

A core language for executable models of cyber physical systems: work in progress report. - Walid Taha; Paul Brauner; Robert Cartwright; Verónica Gaspes; Aaron D. Ames; Alexandre Chapoutot (SIGBED Rev., 2011)

Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems. - Yizhar Or; Aaron D. Ames (IEEE Trans. Autom. Control., 2011)

Outputs of human walking for bipedal robotic controller design. - Shu Jiang; Shawanee Partrick; Huihua Zhao; Aaron D. Ames (ACC, 2012)

Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction. - Ryan W. Sinnet; Aaron D. Ames (ACC, 2012)

Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. - Shishir Nadubettu Yadukumar; Bhargav Kothapalli; Aaron D. Ames (ACC, 2012)

Control lyapunov functions and hybrid zero dynamics. - Aaron D. Ames; Kevin S. Galloway; J. W. Grizzle (CDC, 2012)

Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics. - Aaron D. Ames; Eric A. Cousineau; Matthew J. Powell (HSCC, 2012)

A Core Language for Executable Models of Cyber-Physical Systems (Preliminary Report). - Walid Taha; Paul Brauner; Yingfu Zeng; Robert Cartwright; Verónica Gaspes; Aaron D. Ames; Alexandre Chapoutot (ICDCS Workshops, 2012)

First steps toward underactuated human-inspired bipedal robotic walking. - Aaron D. Ames (ICRA, 2012)

Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing. - Matthew J. Powell; Huihua Zhao; Aaron D. Ames (ICRA, 2012)

Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. - Shishir Nadubettu Yadukumar; Murali Pasupuleti; Aaron D. Ames (IROS, 2012)

Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. - Huihua Zhao; Shishir Nadubettu Yadukumar; Aaron D. Ames (IROS, 2012)

Achieving bipedal locomotion on rough terrain through human-inspired control. - Shishir Kolathaya; Aaron D. Ames (SSRR, 2012)

From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. - Shishir Nadubettu Yadukumar; Murali Pasupuleti; Aaron D. Ames (WAFR, 2012)

Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots. - Ryan W. Sinnet; Aaron D. Ames (J. Robotics Mechatronics, 2012)

Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots. - Benjamin Morris 001; Matthew J. Powell; Aaron D. Ames (CDC, 2013)

A stabilization result with application to bipedal locomotion. - Andrew R. Teel; Rafal Goebel; Benjamin Morris 001; Aaron D. Ames; Jessy W. Grizzle (CDC, 2013)

Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. - Aaron D. Ames; Matthew J. Powell (CPSW@CISS, 2013)

Enclosing the behavior of a hybrid system up to and beyond a Zeno point. - Michal Konecný; Walid Taha; Jan Duracz; Adam Duracz; Aaron D. Ames (CPSNA, 2013)

Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs. - Aaron D. Ames (HSCC, 2013)

Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. - Matthew J. Powell; Ayonga Hereid; Aaron D. Ames (ICRA, 2013)

Learning impedance controller parameters for lower-limb prostheses. - Navid Aghasadeghi; Huihua Zhao; Levi J. Hargrove; Aaron D. Ames; Eric J. Perreault; Timothy Bretl (IROS, 2013)

Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. - Neil Dantam; Ayonga Hereid; Aaron D. Ames; Mike Stilman (Robotics: Science and Systems, 2013)

Lyapunov Theory for Zeno Stability. - Andrew G. Lamperski; Aaron D. Ames (IEEE Trans. Autom. Control., 2013)

Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. - Shishir Kolathaya; Aaron D. Ames (ACC, 2014)

Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion. - Huihua Zhao; Aaron D. Ames (ACC, 2014)

Control barrier function based quadratic programs with application to adaptive cruise control. - Aaron D. Ames; Jessy W. Grizzle; Paulo Tabuada (CDC, 2014)

Quadratic program based nonlinear embedded control of series elastic actuators. - Aaron D. Ames; James Holley (CDC, 2014)

Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. - Ayonga Hereid; Matthew J. Powell; Aaron D. Ames (CDC, 2014)

Preliminary results on correct-by-construction control software synthesis for adaptive cruise control. - Petter Nilsson; Omar Hussien; Yuxiao Chen 001; Ayca Balkan; Matthias Rungger; Aaron D. Ames; Jessy W. Grizzle; Necmiye Ozay; Huei Peng; Paulo Tabuada (CDC, 2014)

Hierarchical control of series elastic actuators through control Lyapunov functions. - Matthew J. Powell; Aaron D. Ames (CDC, 2014)

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. - Ayonga Hereid; Shishir Kolathaya; Mikhail S. Jones; Johnathan Van Why; Jonathan W. Hurst; Aaron D. Ames (HSCC, 2014)

Human-inspired multi-contact locomotion with AMBER2. - Huihua Zhao; Wen-Loong Ma; Aaron D. Ames; Michael B. Zeagler (ICCPS, 2014)

Planar multi-contact bipedal walking using hybrid zero dynamics. - Jordan Lack; Matthew J. Powell; Aaron D. Ames (ICRA, 2014)

Human-inspired walking via unified PD and impedance control. - Wen-Loong Ma; Huihua Zhao; Shishir Kolathaya; Aaron D. Ames (ICRA, 2014)

Quadratic programming and impedance control for transfemoral prosthesis. - Huihua Zhao; Shishir Kolathaya; Aaron D. Ames (ICRA, 2014)

Composing Dynamical Systems to Realize Dynamic Robotic Dancing. - Shishir Kolathaya; Wen-Loong Ma; Aaron D. Ames (WAFR, 2014)

Models, feedback control, and open problems of 3D bipedal robotic walking. - Jessy W. Grizzle; Christine Chevallereau; Ryan W. Sinnet; Aaron D. Ames (Autom., 2014)

Human-Inspired Control of Bipedal Walking Robots. - Aaron D. Ames (IEEE Trans. Autom. Control., 2014)

Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. - Aaron D. Ames; Kevin S. Galloway; Koushil Sreenath; Jessy W. Grizzle (IEEE Trans. Autom. Control., 2014)

Control Barrier Certificates for Safe Swarm Behavior. - Urs Borrmann; Li Wang 050; Aaron D. Ames; Magnus Egerstedt (ADHS, 2015)

Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits. - Shishir Kolathaya; Aaron D. Ames (ADHS, 2015)

Robustness of Control Barrier Functions for Safety Critical Control. - Xiangru Xu; Paulo Tabuada; Jessy W. Grizzle; Aaron D. Ames (ADHS, 2015)

Control barrier function based quadratic programs with application to bipedal robotic walking. - Shao-Chen Hsu; Xiangru Xu; Aaron D. Ames (ACC, 2015)

Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. - Aakar Mehra; Wen-Loong Ma; Forrest Berg; Paulo Tabuada; Jessy W. Grizzle; Aaron D. Ames (ACC, 2015)

Energy shaping of hybrid systems via control Lyapunov functions. - Ryan W. Sinnet; Aaron D. Ames (ACC, 2015)

Continuity and smoothness properties of nonlinear optimization-based feedback controllers. - Benjamin J. Morris; Matthew J. Powell; Aaron D. Ames (CDC, 2015)

A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses. - Huihua Zhao; Jonathan Horn; Jacob Reher; Victor Paredes; Aaron D. Ames (CDC, 2015)

First steps toward formal controller synthesis for bipedal robots. - Aaron D. Ames; Paulo Tabuada; Bastian Schürmann; Wen-Loong Ma; Shishir Kolathaya; Matthias Rungger; Jessy W. Grizzle (HSCC, 2015)

Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control. - Huihua Zhao; Jake Reher; Jonathan Horn; Victor Paredes; Aaron D. Ames (HSCC, 2015)

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis. - Huihua Zhao; Jake Reher; Jonathan Horn; Victor Paredes; Aaron D. Ames (ICCPS, 2015)

Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method. - Eric A. Cousineau; Aaron D. Ames (ICRA, 2015)

Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. - Ayonga Hereid; Christian Hubicki; Eric A. Cousineau; Jonathan W. Hurst; Aaron D. Ames (ICRA, 2015)

Model predictive control of underactuated bipedal robotic walking. - Matthew J. Powell; Eric A. Cousineau; Aaron D. Ames (ICRA, 2015)

Acumen: An Open-Source Testbed for Cyber-Physical Systems Research. - Walid Taha; Adam Duracz; Yingfu Zeng; Kevin Atkinson; Ferenc A. Bartha; Paul Brauner; Jan Duracz; Fei Xu; Robert Cartwright; Michal Konecný; Eugenio Moggi; Jawad Masood; et al. (IoT 360 (1), 2015)

Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs. - Kevin S. Galloway; Koushil Sreenath; Aaron D. Ames; Jessy W. Grizzle (IEEE Access, 2015)

Valkyrie: NASA's First Bipedal Humanoid Robot. - Nicolaus A. Radford; Philip Strawser; Kimberly A. Hambuchen; Joshua S. Mehling; William K. Verdeyen; A. Stuart Donnan; James Holley; Jairo Sanchez; Vienny Nguyen; Lyndon B. Bridgwater; Reginald Berka; Robert O. Ambrose; et al. (J. Field Robotics, 2015)

The Ach Library: A New Framework for Real-Time Communication. - Neil T. Dantam; Daniel M. Lofaro; Ayonga Hereid; Paul Y. Oh; Aaron D. Ames; Mike Stilman (IEEE Robotics Autom. Mag., 2015)

Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. - Kenneth Y. Chao; Matthew J. Powell; Aaron D. Ames; Pilwon Hur (ACC, 2016)

Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. - Shishir Kolathaya; Ayonga Hereid; Aaron D. Ames (ACC, 2016)

Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion. - Matthew J. Powell; Aaron D. Ames (ACC, 2016)

Safety barrier certificates for heterogeneous multi-robot systems. - Li Wang 050; Aaron D. Ames; Magnus Egerstedt (ACC, 2016)

Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. - Ayonga Hereid; Shishir Kolathaya; Aaron D. Ames (CDC, 2016)

3D dynamic walking on stepping stones with control barrier functions. - Quan Nguyen 004; Ayonga Hereid; Jessy W. Grizzle; Aaron D. Ames; Koushil Sreenath (CDC, 2016)

Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots. - Li Wang 050; Aaron D. Ames; Magnus Egerstedt (CDC, 2016)

3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. - Huihua Zhao; Ayonga Hereid; Eric R. Ambrose; Aaron D. Ames (CDC, 2016)

Establishing trust in remotely reprogrammable systems. - Thomas Gurriet; Mark L. Mote; Aaron D. Ames; Eric Feron (HCI-Aero, 2016)

Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. - Matthew J. Powell; Wen-Loong Ma; Eric R. Ambrose; Aaron D. Ames (Humanoids, 2016)

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. - Ayonga Hereid; Eric A. Cousineau; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. - Christian M. Hubicki; Ayonga Hereid; Michael X. Grey; Andrea Lockerd Thomaz; Aaron D. Ames (ICRA, 2016)

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. - Jacob Reher; Eric A. Cousineau; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Humanoid manipulation planning using backward-forward search. - Michael X. Grey; Caelan Reed Garrett; C. Karen Liu; Aaron D. Ames; Andrea Lockerd Thomaz (IROS, 2016)

Tractable terrain-aware motion planning on granular media: An impulsive jumping study. - Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames (IROS, 2016)

Efficient HZD gait generation for three-dimensional underactuated humanoid running. - Wen-Loong Ma; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (IROS, 2016)

Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. - Matthew J. Powell; Aaron D. Ames (IROS, 2016)

Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. - Jacob P. Reher; Ayonga Hereid; Shishir Kolathaya; Christian M. Hubicki; Aaron D. Ames (WAFR, 2016)

Control Barrier Function Based Quadratic Programs with Application to Automotive Safety Systems. - Aaron D. Ames; Xiangru Xu; Jessy W. Grizzle; Paulo Tabuada (CoRR, 2016)

Traversing Environments Using Possibility Graphs for Humanoid Robots. - Michael X. Grey; Aaron D. Ames; C. Karen Liu (CoRR, 2016)

Footstep and Motion Planning in Semi-unstructured Environments Using Possibility Graphs. - Michael X. Grey; Aaron D. Ames; C. Karen Liu (CoRR, 2016)

Traversing Environments Using Possibility Graphs with Multiple Action Types. - Michael X. Grey; C. Karen Liu; Aaron D. Ames (CoRR, 2016)

System Identification and Control through Efficient SVA Based Regressor Computation. - Shishir Kolathaya; Benjamin J. Morris; Ryan W. Sinnet; Aaron D. Ames (CoRR, 2016)

Safe, Remote-Access Swarm Robotics Research on the Robotarium. - Daniel Pickem; Li Wang 050; Paul Glotfelter; Yancy Diaz-Mercado; Mark Mote; Aaron D. Ames; Eric Feron; Magnus Egerstedt (CoRR, 2016)

Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. - Huihua Zhao; Jonathan Horn; Jacob Reher; Victor Paredes; Aaron D. Ames (IEEE Trans Autom. Sci. Eng., 2016)

Correct-by-Construction Adaptive Cruise Control: Two Approaches. - Petter Nilsson; Omar Hussien; Ayca Balkan; Yuxiao Chen 001; Aaron D. Ames; Jessy W. Grizzle; Necmiye Ozay; Huei Peng; Paulo Tabuada (IEEE Trans. Control. Syst. Technol., 2016)

Robust control of a powered transfemoral prosthesis device with experimental verification. - Vahid Azimi; Tony Shu; Huihua Zhao; Eric R. Ambrose; Aaron D. Ames; Dan Simon (ACC, 2017)

Closed-form controlled invariant sets for pedestrian avoidance. - Yasser Shoukry; Paulo Tabuada; Stephanie Tsuei; Mark B. Milam; Jessy W. Grizzle; Aaron D. Ames (ACC, 2017)

Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M. - Eric R. Ambrose; Wen-Loong Ma; Christian Hubicki; Aaron D. Ames (CCTA, 2017)

Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. - Xiangru Xu; Thomas Waters; Daniel Pickem; Paul Glotfelter; Magnus Egerstedt; Paulo Tabuada; Jessy W. Grizzle; Aaron D. Ames (CCTA, 2017)

Data-driven control for feedback linearizable single-input systems. - Paulo Tabuada; Wen-Loong Ma; Jessy W. Grizzle; Aaron D. Ames (CDC, 2017)

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. - Wen-Loong Ma; Shishir Kolathaya; Eric R. Ambrose; Christian M. Hubicki; Aaron D. Ames (HSCC, 2017)

Learning to jump in granular media: Unifying optimal control synthesis with Gaussian process-based regression. - Alexander H. Chang; Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames; Patricio A. Vela (ICRA, 2017)

Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. - Michael X. Grey; Aaron D. Ames; C. Karen Liu (ICRA, 2017)

The Robotarium: A remotely accessible swarm robotics research testbed. - Daniel Pickem; Paul Glotfelter; Li Wang 050; Mark Mote; Aaron D. Ames; Eric Feron; Magnus Egerstedt (ICRA, 2017)

Safe certificate-based maneuvers for teams of quadrotors using differential flatness. - Li Wang 050; Aaron D. Ames; Magnus Egerstedt (ICRA, 2017)

Preliminary results on energy efficient 3D prosthetic walking with a powered compliant transfemoral prosthesis. - Huihua Zhao; Eric R. Ambrose; Aaron D. Ames (ICRA, 2017)

FROST∗: Fast robot optimization and simulation toolkit. - Ayonga Hereid; Aaron D. Ames (IROS, 2017)

A stability region criterion for flat-footed bipedal walking on deformable granular terrain. - Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (IROS, 2017)

Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments. - Michael X. Grey; Aaron D. Ames; C. Karen Liu (Robotics: Science and Systems, 2017)

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. - Ayush Agrawal; Omar Harib; Ayonga Hereid; Sylvain Finet; Matthieu Masselin; Laurent Praly; Aaron D. Ames; Koushil Sreenath; Jessy W. Grizzle (IEEE Access, 2017)

First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach. - Huihua Zhao; Jonathan Horn; Jacob Reher; Victor Paredes; Aaron D. Ames (Auton. Robots, 2017)

Abstracting Partially Feedback Linearizable Systems Compositionally. - Omar Hussien; Aaron D. Ames; Paulo Tabuada (IEEE Control. Syst. Lett., 2017)

Multi-contact bipedal robotic locomotion. - Huihua Zhao; Ayonga Hereid; Wen-Loong Ma; Aaron D. Ames (Robotica, 2017)

Corrigendum: Multi-contact bipedal robotic locomotion. - Huihua Zhao; Ayonga Hereid; Wen-Loong Ma; Aaron D. Ames (Robotica, 2017)

Control Barrier Function Based Quadratic Programs for Safety Critical Systems. - Aaron D. Ames; Xiangru Xu; Jessy W. Grizzle; Paulo Tabuada (IEEE Trans. Autom. Control., 2017)

Safety Barrier Certificates for Collisions-Free Multirobot Systems. - Li Wang 050; Aaron D. Ames; Magnus Egerstedt (IEEE Trans. Robotics, 2017)

Temporal Logic Control of POMDPs via Label-based Stochastic Simulation Relations. - Sofie Haesaert; Petter Nilsson; Cristian Ioan Vasile; Rohan Thakker; Ali-akbar Agha-mohammadi; Aaron D. Ames; Richard M. Murray (ADHS, 2018)

Observer-Based Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Underactuated Bipedal Walking. - Kaveh Akbari Hamed; Aaron D. Ames; Robert D. Gregg (ACC, 2018)

Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion. - Kaveh Akbari Hamed; Robert D. Gregg; Aaron D. Ames (ACC, 2018)

Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. - Shishir Kolathaya; Jacob Reher; Ayonga Hereid; Aaron D. Ames (ACC, 2018)

An Online Approach to Active Set Invariance. - Thomas Gurriet; Mark Mote; Aaron D. Ames; Eric Feron (CDC, 2018)

Barrier Functions: Bridging the Gap between Planning from Specifications and Safety-Critical Control. - Petter Nilsson; Aaron D. Ames (CDC, 2018)

Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. - Jonathan R. Gosyne; Christian M. Hubicki; Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (Humanoids, 2018)

Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. - Xiaobin Xiong; Aaron D. Ames (Humanoids, 2018)

Towards a framework for realizable safety critical control through active set invariance. - Thomas Gurriet; Andrew Singletary; Jacob Reher; Laurent Ciarletta; Eric Feron; Aaron D. Ames (ICCPS, 2018)

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. - Thomas Gurriet; Sylvain Finet; Guilhem Boeris; Alexis Duburcq; Ayonga Hereid; Omar Harib; Matthieu Masselin; Jessy W. Grizzle; Aaron D. Ames (ICRA, 2018)

Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control. - Xiaobin Xiong; Aaron D. Ames (IROS, 2018)

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. - Petter Nilsson; Sofie Haesaert; Rohan Thakker; Kyohei Otsu; Cristian Ioan Vasile; Ali-Akbar Agha-Mohammadi; Richard M. Murray; Aaron D. Ames (Robotics: Science and Systems, 2018)

Input to State Stability of Bipedal Walking Robots: Application to DURUS. - Shishir Kolathaya; Jacob Reher; Aaron D. Ames (CoRR, 2018)

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. - Omar Harib; Ayonga Hereid; Ayush Agrawal; Thomas Gurriet; Sylvain Finet; Guilhem Boeris; Alexis Duburcq; Margaret Eva Mungai; Matthieu Masselin; Aaron D. Ames; Koushil Sreenath; Jessy W. Grizzle (CoRR, 2018)

Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. - Shishir Kolathaya; William Guffey; Ryan W. Sinnet; Aaron D. Ames (IEEE Robotics Autom. Lett., 2018)

Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control. - Xiangru Xu; Jessy W. Grizzle; Paulo Tabuada; Aaron D. Ames (IEEE Trans Autom. Sci. Eng., 2018)

Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. - Ayonga Hereid; Christian M. Hubicki; Eric A. Cousineau; Aaron D. Ames (IEEE Trans. Robotics, 2018)

Compositional Set Invariance in Network Systems with Assume-Guarantee Contracts. - Yuxiao Chen 001; James Anderson 001; Karan Kalsi; Steven H. Low; Aaron D. Ames (ACC, 2019)

Realizable Set Invariance Conditions for Cyber-Physical Systems. - Thomas Gurriet; Petter Nilsson; Andrew Singletary; Aaron D. Ames (ACC, 2019)

Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers. - Kaveh Akbari Hamed; Wen-Loong Ma; Aaron D. Ames (ACC, 2019)

Safety Functionals for Time Delay Systems. - Gábor Orosz; Aaron D. Ames (ACC, 2019)

Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions. - Mohamadreza Ahmadi; Andrew Singletary; Joel W. Burdick; Aaron D. Ames (CDC, 2019)

A Scalable Controlled Set Invariance Framework with Practical Safety Guarantees. - Thomas Gurriet; Mark Mote; Andrew Singletary; Eric Feron; Aaron D. Ames (CDC, 2019)

Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots. - Vishal Murali; Aaron D. Ames; Erik I. Verriest (CDC, 2019)

A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability. - Andrew J. Taylor; Victor D. Dorobantu; Meera Krishnamoorthy; Hoang Minh Le 002; Yisong Yue; Aaron D. Ames (CDC, 2019)

Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations. - Tyler Westenbroek; Xiaobin Xiong; Aaron D. Ames; S. Shankar Sastry (CDC, 2019)

Control Barrier Functions: Theory and Applications. - Aaron D. Ames; Samuel Coogan 001; Magnus Egerstedt; Gennaro Notomista; Koushil Sreenath; Paulo Tabuada (ECC, 2019)

Dynamic Walking with Compliance on a Cassie Bipedal Robot. - Jacob Reher; Wen-Loong Ma; Aaron D. Ames (ECC, 2019)

Every Hop is an Opportunity: Quickly Classifying and Adapting to Terrain During Targeted Hopping. - Alexander H. Chang; Christian Hubicki; Aaron D. Ames; Patricio A. Vela (ICRA, 2019)

Dynamic Walking on Slippery Surfaces : Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. - Wen-Loong Ma; Yizhar Or; Aaron D. Ames (ICRA, 2019)

Design and Comparative Analysis of 1D Hopping Robots. - Eric R. Ambrose; Noel Csomay-Shanklin; Yizhar Or; Aaron D. Ames (IROS, 2019)

First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. - Wen-Loong Ma; Kaveh Akbari Hamed; Aaron D. Ames (IROS, 2019)

Online Active Safety for Robotic Manipulators. - Andrew Singletary; Petter Nilsson; Thomas Gurriet; Aaron D. Ames (IROS, 2019)

Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems*. - Andrew J. Taylor; Victor D. Dorobantu; Hoang Minh Le 002; Yisong Yue; Aaron D. Ames (IROS, 2019)

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. - Xiaobin Xiong; Aaron D. Ames (IROS, 2019)

Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. - Xiaobin Xiong; Aaron D. Ames (IROS, 2019)

Duality between density function and value function with applications in constrained optimal control and Markov Decision Process. - Yuxiao Chen 001; Aaron D. Ames (CoRR, 2019)

Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems. - Andrew J. Taylor; Victor D. Dorobantu; Hoang Minh Le 002; Yisong Yue; Aaron D. Ames (CoRR, 2019)

Characterizing Safety: Minimal Barrier Functions from Scalar Comparison Systems. - Rohit Konda; Aaron D. Ames; Samuel Coogan 001 (CoRR, 2019)

Control of Separable Subsystems with Application to Prostheses. - Rachel Gehlhar; Jenna Reher; Aaron D. Ames (CoRR, 2019)

Optimal Motion Planning for Multi-Modal Hybrid Locomotion. - Hyung Ju Terry Suh; Xiaobin Xiong; Andrew Singletary; Aaron D. Ames; Joel W. Burdick (CoRR, 2019)

Stabilization of Exoskeletons through Active Ankle Compensation. - Thomas Gurriet; Maegan Tucker; Claudia Kann; Guilhem Boeris; Aaron D. Ames (CoRR, 2019)

Input-to-State Safety With Control Barrier Functions. - Shishir Kolathaya; Aaron D. Ames (IEEE Control. Syst. Lett., 2019)

Risk-Averse Planning Under Uncertainty. - Mohamadreza Ahmadi; Masahiro Ono; Michel D. Ingham; Richard M. Murray; Aaron D. Ames (ACC, 2020)

Optimal Safe Controller Synthesis: A Density Function Approach. - Yuxiao Chen 001; Mohamadreza Ahmadi; Aaron D. Ames (ACC, 2020)

Density Functions for Guaranteed Safety on Robotic Systems. - Yuxiao Chen 001; Andrew W. Singletary; Aaron D. Ames (ACC, 2020)

Invariant Sets for Integrators and Quadrotor Obstacle Avoidance. - Ludvig Doeser; Petter Nilsson; Aaron D. Ames; Richard M. Murray (ACC, 2020)

Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach. - Kaveh Akbari Hamed; Vinay R. Kamidi; Abhishek Pandala; Wen-Loong Ma; Aaron D. Ames (ACC, 2020)

Lyapunov-Like Conditions for Tight Exit Probability Bounds through Comparison Theorems for SDEs. - Petter Nilsson; Aaron D. Ames (ACC, 2020)

On a Converse theorem for Finite-time Lyapunov Functions to Estimate Domains of Attraction. - Ayush Pandey; Aaron D. Ames (ACC, 2020)

An Inverse Dynamics Approach to Control Lyapunov Functions. - Jenna Reher; Claudia Kann; Aaron D. Ames (ACC, 2020)

Adaptive Safety with Control Barrier Functions. - Andrew J. Taylor; Aaron D. Ames (ACC, 2020)

Barrier Functions for Multiagent-POMDPs with DTL Specifications. - Mohamadreza Ahmadi; Andrew Singletary; Joel W. Burdick; Aaron D. Ames (CDC, 2020)

Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions. - Prithvi Akella; Mohamadreza Ahmadi; Richard M. Murray; Aaron D. Ames (CDC, 2020)

Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties. - Richard Cheng; Mohammad Javad Khojasteh; Aaron D. Ames; Joel W. Burdick (CDC, 2020)

Control Barrier Functions for Sampled-Data Systems with Input Delays. - Andrew Singletary; Yuxiao Chen 001; Aaron D. Ames (CDC, 2020)

Reactive motion planning with probabilisticsafety guarantees. - Yuxiao Chen 001; Ugo Rosolia; Chuchu Fan; Aaron D. Ames; Richard M. Murray (CoRL, 2020)

Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions. - Sarah Dean; Andrew J. Taylor; Ryan K. Cosner; Benjamin Recht; Aaron D. Ames (CoRL, 2020)

Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. - Filip Klaesson; Petter Nilsson; Aaron D. Ames; Richard M. Murray (ICCPS, 2020)

Improved Performance on Moving-Mass Hopping Robots with Parallel Elasticity. - Eric R. Ambrose; Aaron D. Ames (ICRA, 2020)

Recurrent Neural Network Control of a Hybrid Dynamical Transfemoral Prosthesis with EdgeDRNN Accelerator. - Chang Gao 002; Rachel Gehlhar; Aaron D. Ames; Shih-Chii Liu; Tobi Delbruck (ICRA, 2020)

From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation. - Wen-Loong Ma; Aaron D. Ames (ICRA, 2020)

Passive Dynamic Balancing and Walking in Actuated Environments. - Jenna Reher; Noel Csomay-Shanklin; David L. Christensen; Bobby Bristow; Aaron D. Ames; Lanny S. Smoot (ICRA, 2020)

Safety-Critical Rapid Aerial Exploration of Unknown Environments. - Andrew Singletary; Thomas Gurriet; Petter Nilsson; Aaron D. Ames (ICRA, 2020)

Preference-Based Learning for Exoskeleton Gait Optimization. - Maegan Tucker; Ellen R. Novoseller; Claudia Kann; Yanan Sui; Yisong Yue; Joel W. Burdick; Aaron D. Ames (ICRA, 2020)

Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses. - Rachel Gehlhar; Yuxiao Chen 001; Aaron D. Ames (IROS, 2020)

Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots. - Wen-Loong Ma; Noel Csomay-Shanklin; Aaron D. Ames (IROS, 2020)

Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. - Hyung Ju Terry Suh; Xiaobin Xiong; Andrew Singletary; Aaron D. Ames; Joel W. Burdick (IROS, 2020)

Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits. - Maegan Tucker; Myra Cheng; Ellen R. Novoseller; Richard Cheng; Yisong Yue; Joel W. Burdick; Aaron D. Ames (IROS, 2020)

Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. - Xiaobin Xiong; Aaron D. Ames (IROS, 2020)

Learning for Safety-Critical Control with Control Barrier Functions. - Andrew J. Taylor; Andrew Singletary; Yisong Yue; Aaron D. Ames (L4DC, 2020)

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions. - Ruben Grandia; Andrew J. Taylor; Andrew Singletary; Marco Hutter 001; Aaron D. Ames (Robotics: Science and Systems, 2020)

Partially Observable Games for Secure Autonomy. - Mohamadreza Ahmadi; Arun Viswanathan; Michel D. Ingham; Kymie Tan; Aaron D. Ames (SP (Workshops), 2020)

Safety-Critical Control of Active Interventions for COVID-19 Mitigation. - Aaron D. Ames; Tamás G. Molnár; Andrew W. Singletary; Gábor Orosz (IEEE Access, 2020)

A Scalable Safety Critical Control Framework for Nonlinear Systems. - Thomas Gurriet; Mark Mote; Andrew Singletary; Petter Nilsson; Eric Feron; Aaron D. Ames (IEEE Access, 2020)

Recurrent Neural Network Control of a Hybrid Dynamic Transfemoral Prosthesis with EdgeDRNN Accelerator. - Chang Gao 002; Rachel Gehlhar; Aaron D. Ames; Shih-Chii Liu; Tobi Delbruck (CoRR, 2020)

Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization. - Prithvi Akella; Ugo Rosolia; Andrew Singletary; Aaron D. Ames (CoRR, 2020)

Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. - Mohamadreza Ahmadi; Xiaobin Xiong; Aaron D. Ames (CoRR, 2020)

Reactive motion planning with probabilistic safety guarantees. - Yuxiao Chen 001; Ugo Rosolia; Chuchu Fan; Aaron D. Ames; Richard M. Murray (CoRR, 2020)

Lidar-based exploration and discretization for mobile robot planning. - Yuxiao Chen 001; Andrew Singletary; Aaron D. Ames (CoRR, 2020)

Unified Multi-Rate Control: from Low Level Actuation to High Level Planning. - Ugo Rosolia; Andrew Singletary; Aaron D. Ames (CoRR, 2020)

Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach. - Tatsuya Ibuki; Sean Wilson; Aaron D. Ames; Magnus Egerstedt (IEEE Control. Syst. Lett., 2020)

Towards Variable Assistance for Lower Body Exoskeletons. - Thomas Gurriet; Maegan Tucker; Alexis Duburcq; Guilhem Boeris; Aaron D. Ames (IEEE Robotics Autom. Lett., 2020)

Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach. - Kaveh Akbari Hamed; Vinay R. Kamidi; Wen-Loong Ma; Alexander Leonessa; Aaron D. Ames (IEEE Robotics Autom. Lett., 2020)

Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping. - Xiaobin Xiong; Aaron D. Ames (IEEE Robotics Autom. Lett., 2020)

Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces. - You Yu; Joanna M. Nassar; Changhao Xu; Jihong Min; Yiran Yang; Adam Dai; Rohan Doshi; Adrian Huang; Yu Song; Rachel Gehlhar; Aaron D. Ames; Wei Gao 004 (Sci. Robotics, 2020)

Nonholonomic Hybrid Zero Dynamics for the Stabilization of Periodic Orbits: Application to Underactuated Robotic Walking. - Kaveh Akbari Hamed; Aaron D. Ames (IEEE Trans. Control. Syst. Technol., 2020)

Constrained Risk-Averse Markov Decision Processes. - Mohamadreza Ahmadi; Ugo Rosolia; Michel D. Ingham; Richard M. Murray; Aaron D. Ames (AAAI, 2021)

Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. - Tyler Westenbroek; Xiaobin Xiong; S. Shankar Sastry; Aaron D. Ames (ADHS, 2021)

Certifying Safety for Nonlinear Time Delay Systems via Safety Functionals: A Discretization Based Approach. - Adam K. Kiss; Tamás G. Molnár; Daniel Bachrathy; Aaron D. Ames; Gábor Orosz (ACC, 2021)

Adaptive Safety Using Control Barrier Functions and Hybrid Adaptation. - Mohamed Maghenem; Andrew J. Taylor; Aaron D. Ames; Ricardo G. Sanfelice (ACC, 2021)

Backup Control Barrier Functions: Formulation and Comparative Study. - Yuxiao Chen 001; Mrdjan Jankovic; Mario A. Santillo; Aaron D. Ames (CDC, 2021)

Risk-Averse Stochastic Shortest Path Planning. - Mohamadreza Ahmadi; Anushri Dixit; Joel W. Burdick; Aaron D. Ames (CDC, 2021)

Estimate-to-State Stability for Hybrid Human-Prosthesis Systems. - Rachel Gehlhar; Aaron D. Ames (CDC, 2021)

Time-Optimal Navigation in Uncertain Environments with High-Level Specifications. - Ugo Rosolia; Mohamadreza Ahmadi; Richard M. Murray; Aaron D. Ames (CDC, 2021)

Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty. - Andrew J. Taylor; Victor D. Dorobantu; Sarah Dean; Benjamin Recht; Yisong Yue; Aaron D. Ames (CDC, 2021)

Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. - Xiaobin Xiong; Yuxiao Chen 001; Aaron D. Ames (CDC, 2021)

Towards the Unification of System Design and Motion Synthesis for High-Performance Hopping Robots. - Eric R. Ambrose; Wen-Loong Ma; Aaron D. Ames (ICRA, 2021)

Model-Dependent Prosthesis Control with Interaction Force Estimation. - Rachel Gehlhar; Aaron D. Ames (ICRA, 2021)

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control. - Ruben Grandia; Andrew J. Taylor; Aaron D. Ames; Marco Hutter 001 (ICRA, 2021)

ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes. - Kejun Li; Maegan Tucker; Erdem Biyik; Ellen R. Novoseller; Joel W. Burdick; Yanan Sui; Dorsa Sadigh; Yisong Yue; Aaron D. Ames (ICRA, 2021)

Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. - Jenna Reher; Aaron D. Ames (ICRA, 2021)

Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots. - Maegan Tucker; Noel Csomay-Shanklin; Wen-Loong Ma; Aaron D. Ames (ICRA, 2021)

Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. - Xiaobin Xiong; Jenna Reher; Aaron D. Ames (ICRA, 2021)

Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State. - Ryan K. Cosner; Andrew W. Singletary; Andrew J. Taylor; Tamás G. Molnár; Katherine L. Bouman; Aaron D. Ames (IROS, 2021)

Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control. - Ivan D. Jimenez Rodriguez; Ugo Rosolia; Aaron D. Ames; Yisong Yue (IROS, 2021)

Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance. - Andrew Singletary; Karl Klingebiel; Joseph Bourne; N. Andrew Browning; Phil Tokumaru; Aaron D. Ames (IROS, 2021)

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. - Wyatt Ubellacker; Noel Csomay-Shanklin; Tamás G. Molnár; Aaron D. Ames (IROS, 2021)

Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety. - Noel Csomay-Shanklin; Ryan K. Cosner; Min Dai; Andrew J. Taylor; Aaron D. Ames (L4DC, 2021)

ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. - Brijen Thananjeyan; Ashwin Balakrishna; Ugo Rosolia; Joseph E. Gonzalez; Aaron D. Ames; Ken Goldberg (WAFR, 2021)

Dynamic Walking: Toward Agile and Efficient Bipedal Robots. - Jenna Reher; Aaron D. Ames (Annu. Rev. Control. Robotics Auton. Syst., 2021)

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization. - Xiaobin Xiong; Aaron D. Ames (CoRR, 2021)

Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach. - Ivan D. Jimenez Rodriguez; Ugo Rosolia; Aaron D. Ames; Yisong Yue (CoRR, 2021)

Model-Dependent Prosthesis Control with Real-Time Force Sensing. - Rachel Gehlhar; Je-Han Yang; Aaron D. Ames (CoRR, 2021)

Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking. - Jenna Reher; Aaron D. Ames (CoRR, 2021)

Learning Performance Bounds for Safety-Critical Systems. - Prithvi Akella; Ugo Rosolia; Aaron D. Ames (CoRR, 2021)

Integral Control Barrier Functions for Dynamically Defined Control Laws. - Aaron D. Ames; Gennaro Notomista; Yorai Wardi; Magnus Egerstedt (IEEE Control. Syst. Lett., 2021)

Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach. - Yuxiao Chen 001; Andrew Singletary; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Online Decentralized Decision Making With Inequality Constraints: An ADMM approach. - Yuxiao Chen 001; Mario A. Santillo; Mrdjan Jankovic; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Data-Driven Safety-Critical Control: Synthesizing Control Barrier Functions With Koopman Operators. - Carl Folkestad; Yuxiao Chen 001; Aaron D. Ames; Joel W. Burdick (IEEE Control. Syst. Lett., 2021)

Separable Control Lyapunov Functions With Application to Prostheses. - Rachel Gehlhar; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Characterizing Safety: Minimal Control Barrier Functions From Scalar Comparison Systems. - Rohit Konda; Aaron D. Ames; Samuel Coogan 001 (IEEE Control. Syst. Lett., 2021)

Coupled Control Systems: Periodic Orbit Generation With Application to Quadrupedal Locomotion. - Wen-Loong Ma; Noel Csomay-Shanklin; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Safety-Critical Control of Compartmental Epidemiological Models With Measurement Delays. - Tamás G. Molnár; Andrew W. Singletary; Gábor Orosz; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies. - Ugo Rosolia; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions. - Andrew J. Taylor; Pio Ong; Jorge Cortés 001; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

A Control Barrier Perspective on Episodic Learning via Projection-to-State Safety. - Andrew J. Taylor; Andrew Singletary; Yisong Yue; Aaron D. Ames (IEEE Control. Syst. Lett., 2021)

Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. - Vaiyee Huynh; Guillaume Burger; Quoc Viet Dang; Raphaël Pelgé; Guilhem Boéris; Jessy W. Grizzle; Aaron D. Ames; Matthieu Masselin (Frontiers Robotics AI, 2021)

Decentralized Task and Path Planning for Multi-Robot Systems. - Yuxiao Chen 001; Ugo Rosolia; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. - Wen-Loong Ma; Noel Csomay-Shanklin; Shishir Kolathaya; Kaveh Akbari Hamed; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. - Yu Sun; Wyatt Ubellacker; Wen-Loong Ma; Xiang Zhang 020; Changhao Wang; Noel Csomay-Shanklin; Masayoshi Tomizuka; Koushil Sreenath; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. - Xiaobin Xiong; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

Safety-Critical Control Synthesis for Network Systems With Control Barrier Functions and Assume-Guarantee Contracts. - Yuxiao Chen 001; James Anderson 001; Karanjit Kalsi; Aaron D. Ames; Steven H. Low (IEEE Trans. Control. Netw. Syst., 2021)

Learning Terrain Dynamics: A Gaussian Process Modeling and Optimal Control Adaptation Framework Applied to Robotic Jumping. - Alexander H. Chang; Christian M. Hubicki; Jeff J. Aguilar; Daniel I. Goldman; Aaron D. Ames; Patricio A. Vela (IEEE Trans. Control. Syst. Technol., 2021)

Model-Based Adaptive Control of Transfemoral Prostheses: Theory, Simulation, and Experiments. - Vahid Azimi; Tony Shu; Huihua Zhao; Rachel Gehlhar; Dan Simon; Aaron D. Ames (IEEE Trans. Syst. Man Cybern. Syst., 2021)

A Control Barrier Function Perspective on Lyapunov-Based Economic Model Predictive Control. - Helen Durand; Aaron D. Ames (ACC, 2022)

End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. - Ryan K. Cosner; Yisong Yue; Aaron D. Ames (CDC, 2022)

Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. - Noel Csomay-Shanklin; Andrew J. Taylor; Ugo Rosolia; Aaron D. Ames (CDC, 2022)

Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. - Pio Ong; Gilbert Bahati; Aaron D. Ames (CDC, 2022)

Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. - Andrew J. Taylor; Victor D. Dorobantu; Ryan K. Cosner; Yisong Yue; Aaron D. Ames (CDC, 2022)

Safe Backstepping with Control Barrier Functions. - Andrew J. Taylor; Pio Ong; Tamás G. Molnár; Aaron D. Ames (CDC, 2022)

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (Humanoids, 2022)

LyaNet: A Lyapunov Framework for Training Neural ODEs. - Ivan Dario Jimenez Rodriguez; Aaron D. Ames; Yisong Yue (ICML, 2022)

Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. - Ryan K. Cosner; Ivan D. Jimenez Rodriguez; Tamás G. Molnár; Wyatt Ubellacker; Yisong Yue; Aaron D. Ames; Katherine L. Bouman (ICRA, 2022)

Learning Controller Gains on Bipedal Walking Robots via User Preferences. - Noel Csomay-Shanklin; Maegan Tucker; Min Dai; Jenna Reher; Aaron D. Ames (ICRA, 2022)

Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. - Min Dai; Xiaobin Xiong; Aaron D. Ames (ICRA, 2022)

Safe Drone Flight with Time-Varying Backup Controllers. - Andrew Singletary; Aiden Swann; Ivan Dario Jimenez Rodriguez; Aaron D. Ames (IROS, 2022)

From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. - Joris Verhagen; Xiaobin Xiong; Aaron D. Ames; Ajay Seth (IROS, 2022)

Safety-Aware Preference-Based Learning for Safety-Critical Control. - Ryan K. Cosner; Maegan Tucker; Andrew J. Taylor; Kejun Li; Tamás G. Molnár; Wyatt Ubellacker; Anil Alan; Gábor Orosz; Yisong Yue; Aaron D. Ames (L4DC, 2022)

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. - Ivan Dario Jimenez Rodriguez; Noel Csomay-Shanklin; Yisong Yue; Aaron D. Ames (L4DC, 2022)

Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. - Prithvi Akella; Wyatt Ubellacker; Aaron D. Ames (CoRR, 2022)

A Barrier-Based Scenario Approach to Verify Safety-Critical Systems. - Prithvi Akella; Aaron D. Ames (CoRR, 2022)

A Scenario Approach to Risk-Aware Safety-Critical System Verification. - Prithvi Akella; Mohamadreza Ahmadi; Aaron D. Ames (CoRR, 2022)

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. - Manuel Y. Galliker; Noel Csomay-Shanklin; Ruben Grandia; Andrew J. Taylor; Farbod Farshidian; Marco Hutter 001; Aaron D. Ames (CoRR, 2022)

Input-to-State Safety with Input Delay in Longitudinal Vehicle Control. - Tamás G. Molnár; Anil Alan; Adam K. Kiss; Aaron D. Ames; Gábor Orosz (CoRR, 2022)

Control Barrier Functionals: Safety-critical Control for Time Delay Systems. - Adam K. Kiss; Tamás G. Molnár; Aaron D. Ames; Gábor Orosz (CoRR, 2022)

POLAR: Preference Optimization and Learning Algorithms for Robotics. - Maegan Tucker; Kejun Li; Yisong Yue; Aaron D. Ames (CoRR, 2022)

Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. - Min Dai; Xiaobin Xiong; Aaron D. Ames (CoRR, 2022)

Verifiably Safe Reinforcement Learning with Probabilistic Guarantees via Temporal Logic. - Hanna Krasowski; Prithvi Akella; Aaron D. Ames; Matthias Althoff (CoRR, 2022)

A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems. - Devansh Agrawal; Hardik Parwana; Ryan K. Cosner; Ugo Rosolia; Aaron D. Ames; Dimitra Panagou (IEEE Control. Syst. Lett., 2022)

Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. - Mohamadreza Ahmadi; Xiaobin Xiong; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. - Prithvi Akella; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions. - Anil Alan; Andrew J. Taylor; Chaozhe R. He; Gábor Orosz; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

Robust Stabilization of Periodic Gaits for Quadrupedal Locomotion via QP-Based Virtual Constraint Controllers. - Randall T. Fawcett; Abhishek Pandala; Aaron D. Ames; Kaveh Akbari Hamed (IEEE Control. Syst. Lett., 2022)

Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. - Kunal Garg; Ryan K. Cosner; Ugo Rosolia; Aaron D. Ames; Dimitra Panagou (IEEE Control. Syst. Lett., 2022)

Distributed Quadratic Programming-Based Nonlinear Controllers for Periodic Gaits on Legged Robots. - Vinay R. Kamidi; Jeeseop Kim; Randall T. Fawcett; Aaron D. Ames; Kaveh Akbari Hamed (IEEE Control. Syst. Lett., 2022)

Iterative Model Predictive Control for Piecewise Systems. - Ugo Rosolia; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

Safety-Critical Kinematic Control of Robotic Systems. - Andrew Singletary; Shishir Kolathaya; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. - Andrew J. Taylor; Victor D. Dorobantu; Yisong Yue; Paulo Tabuada; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems. - Prithvi Akella; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. - Yuxiao Chen 001; Ugo Rosolia; Wyatt Ubellacker; Noel Csomay-Shanklin; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Toward a Data-Driven Template Model for Quadrupedal Locomotion. - Randall T. Fawcett; Kereshmeh Afsari; Aaron D. Ames; Kaveh Akbari Hamed (IEEE Robotics Autom. Lett., 2022)

Powered Prosthesis Locomotion on Varying Terrains: Model-Dependent Control With Real-Time Force Sensing. - Rachel Gehlhar; Je-Han Yang; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. - Kejun Li; Maegan Tucker; Rachel Gehlhar; Yisong Yue; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Model-Free Safety-Critical Control for Robotic Systems. - Tamás G. Molnár; Ryan K. Cosner; Andrew W. Singletary; Wyatt Ubellacker; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Robust Predictive Control for Quadrupedal Locomotion: Learning to Close the Gap Between Reduced- and Full-Order Models. - Abhishek Pandala; Randall T. Fawcett; Ugo Rosolia; Aaron D. Ames; Kaveh Akbari Hamed (IEEE Robotics Autom. Lett., 2022)

Safety-Critical Manipulation for Collision-Free Food Preparation. - Andrew Singletary; William Guffey; Tamás G. Molnár; Ryan W. Sinnet; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions. - Andrew Singletary; Aiden Swann; Yuxiao Chen 001; Aaron D. Ames (IEEE Robotics Autom. Lett., 2022)

Safety and Efficiency in Robotics: The Control Barrier Functions Approach. - Federica Ferraguti; Chiara Talignani Landi; Andrew Singletary; Hsien-Chung Lin; Aaron D. Ames; Cristian Secchi; Marcello Bonfè (IEEE Robotics Autom. Mag., 2022)

Unified Multirate Control: From Low-Level Actuation to High-Level Planning. - Ugo Rosolia; Andrew Singletary; Aaron D. Ames (IEEE Trans. Autom. Control., 2022)

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. - Xiaobin Xiong; Aaron D. Ames (IEEE Trans. Robotics, 2022)

Safety-Critical Control with Bounded Inputs via Reduced Order Models. - Tamás G. Molnár; Aaron D. Ames (ACC, 2023)

Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. - Prithvi Akella; Aaron D. Ames (CDC, 2023)

Input-to-State Stability in Probability. - Preston Culbertson; Ryan K. Cosner; Maegan Tucker; Aaron D. Ames (CDC, 2023)

Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. - Adrian B. Ghansah; Jeeseop Kim; Maegan Tucker; Aaron D. Ames (CDC, 2023)

Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces. - Hanna Krasowski; Prithvi Akella; Aaron D. Ames; Matthias Althoff (CDC, 2023)

On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. - Tamás G. Molnár; Gábor Orosz; Aaron D. Ames (CDC, 2023)

Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. - Pio Ong; Aaron D. Ames (CDC, 2023)

Safety-Critical Controller Verification via Sim2Real Gap Quantification. - Prithvi Akella; Wyatt Ubellacker; Aaron D. Ames (ICRA, 2023)

Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. - Apurva Badithela; Josefine B. Graebener; Wyatt Ubellacker; Eric V. Mazumdar; Aaron D. Ames; Richard M. Murray (ICRA, 2023)

Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. - Noel Csomay-Shanklin; Victor D. Dorobantu; Aaron D. Ames (ICRA, 2023)

Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. - Randall T. Fawcett; Leila Amanzadeh; Jeeseop Kim; Aaron D. Ames; Kaveh Akbari Hamed (ICRA, 2023)

Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. - Rachel Gehlhar; Aaron D. Ames (ICRA, 2023)

Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. - Kasper Johansson; Ugo Rosolia; Wyatt Ubellacker; Andrew Singletary; Aaron D. Ames (ICRA, 2023)

Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. - Maegan Tucker; Noel Csomay-Shanklin; Aaron D. Ames (ICRA, 2023)

Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. - Wyatt Ubellacker; Aaron D. Ames (ICRA, 2023)

Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. - Prithvi Akella; Wyatt Ubellacker; Aaron D. Ames (IROS, 2023)

Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. - Min Dai; Xiaobin Xiong; Jaemin Lee; Aaron D. Ames (IROS, 2023)

Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. - Jeeseop Kim; Jaemin Lee; Aaron D. Ames (IROS, 2023)

Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. - Jaemin Lee; Jeeseop Kim; Aaron D. Ames (IROS, 2023)

FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. - Albert H. Li; Preston Culbertson; Joel W. Burdick; Aaron D. Ames (IROS, 2023)

Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. - Prithvi Akella; Skylar X. Wei; Joel W. Burdick; Aaron D. Ames (L4DC, 2023)

Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. - Ryan K. Cosner; Preston Culbertson; Andrew J. Taylor; Aaron D. Ames (Robotics: Science and Systems, 2023)

Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach. - Randall T. Fawcett; Aaron D. Ames; Kaveh Akbari Hamed (IEEE Access, 2023)

Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration. - Prithvi Akella; Apurva Badithela; Richard M. Murray; Aaron D. Ames (CoRR, 2023)

Violation-Free Inter-Sampling Safety: from Control Barrier Functions to Tunable Controllers with Input-to-State Safety Guarantees. - Gilbert Bahati; Pio Ong; Aaron D. Ames (CoRR, 2023)

PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability. - Albert H. Li; Preston Culbertson; Aaron D. Ames (CoRR, 2023)

Safe Online Dynamics Learning with Initially Unknown Models and Infeasible Safety Certificates. - Alexandre Capone; Ryan K. Cosner; Aaron D. Ames; Sandra Hirche (CoRR, 2023)

Parameterized Barrier Functions to Guarantee Safety Under Uncertainty. - Anil Alan; Tamás G. Molnár; Aaron D. Ames; Gábor Orosz (IEEE Control. Syst. Lett., 2023)

Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions. - Anil Alan; Tamás G. Molnár; Ersin Das; Aaron D. Ames; Gábor Orosz (IEEE Control. Syst. Lett., 2023)

Characterizing Smooth Safety Filters via the Implicit Function Theorem. - Max H. Cohen; Pio Ong; Gilbert Bahati; Aaron D. Ames (IEEE Control. Syst. Lett., 2023)

Composing Control Barrier Functions for Complex Safety Specifications. - Tamás G. Molnár; Aaron D. Ames (IEEE Control. Syst. Lett., 2023)

Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions. - Andrew Singletary; Mohamadreza Ahmadi; Aaron D. Ames (IEEE Control. Syst. Lett., 2023)

An Input-to-State Stability Perspective on Robust Locomotion. - Maegan Tucker; Aaron D. Ames (IEEE Control. Syst. Lett., 2023)

A review of current state-of-the-art control methods for lower-limb powered prostheses. - Rachel Gehlhar; Maegan Tucker; Aaron J. Young; Aaron D. Ames (Annu. Rev. Control., 2023)

The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms. - Ugo Rosolia; Yuxiao Chen 001; Shreyansh Daftry; Masahiro Ono; Yisong Yue; Aaron D. Ames (IEEE Trans. Autom. Control., 2023)

Safety-Critical Control With Input Delay in Dynamic Environment. - Tamás G. Molnár; Adam K. Kiss; Aaron D. Ames; Gábor Orosz (IEEE Trans. Control. Syst. Technol., 2023)

Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles. - Anil Alan; Andrew J. Taylor; Chaozhe R. He; Aaron D. Ames; Gábor Orosz (IEEE Trans. Control. Syst. Technol., 2023)

Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. - Jeeseop Kim; Randall T. Fawcett; Vinay R. Kamidi; Aaron D. Ames; Kaveh Akbari Hamed (IEEE Trans. Robotics, 2023)

Sample-and-Hold Safety with Control Barrier Functions. - Gilbert Bahati; Pio Ong; Aaron D. Ames (ACC, 2024)

Multi-Domain Walking with Reduced-Order Models of Locomotion. - Min Dai; Jaemin Lee; Aaron D. Ames (ACC, 2024)

Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. - Aurora Haraldsen; Martin S. Wiig; Aaron D. Ames; Kristin Y. Pettersen (ACC, 2024)

A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. - Jaemin Lee; Jeeseop Kim; Aaron D. Ames (ACC, 2024)

Receding Horizon CBF-Based Multi-Layer Controllers for Safe Trajectory Generation. - Lorenzo Sforni; Giuseppe Notarstefano; Aaron D. Ames (ACC, 2024)

Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion. - Wyatt Ubellacker; Noel Csomay-Shanklin; Aaron D. Ames (ACC, 2024)

Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. - William D. Compton; Ivan Dario Jimenez Rodriguez; Noel Csomay-Shanklin; Yisong Yue; Aaron D. Ames (CDC, 2024)

Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation. - Zachary Olkin; Aaron D. Ames (CDC, 2024)

Hierarchical Event-Triggered Systems: Safe Learning of Quasi-Optimal Deadline Policies. - Pio Ong; Manuel Mazo 002; Aaron D. Ames (CDC, 2024)

Safety of Linear Systems under Severe Sensor Attacks. - Xiao Tan; Pio Ong; Paulo Tabuada; Aaron D. Ames (CDC, 2024)

Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer. - Tyler Ga Wei Lum; Albert H. Li; Preston Culbertson; Krishnan Srinivasan; Aaron D. Ames; Mac Schwager; Jeannette Bohg (CoRL, 2024)

Robust Safety-Critical Control for Input-Delayed System with Delay Estimation. - Yitaek Kim; Jeeseop Kim; Aaron D. Ames; Christoffer Sloth (ECC, 2024)

Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. - Ryan K. Cosner; Igor Sadalski; Jana K. Woo; Preston Culbertson; Aaron D. Ames (ICRA, 2024)

Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. - Jeeseop Kim; Jaemin Lee; Aaron D. Ames (ICRA, 2024)

Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. - Jaemin Lee; Jeeseop Kim; Wyatt Ubellacker; Tamás G. Molnár; Aaron D. Ames (ICRA, 2024)

Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. - Maegan Tucker; Kejun Li; Aaron D. Ames (ICRA, 2024)

Robust Agility via Learned Zero Dynamics Policies. - Noel Csomay-Shanklin; William D. Compton; Ivan Dario Jimenez Rodriguez; Eric R. Ambrose; Yisong Yue; Aaron D. Ames (IROS, 2024)

Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP. - Adrian B. Ghansah; Jeeseop Kim; Kejun Li; Aaron D. Ames (IROS, 2024)

Safety-critical Autonomous Inspection of Distillation Columns using Quadrupedal Robots Equipped with Roller Arms. - Jaemin Lee; Jeeseop Kim; Aaron D. Ames (IROS, 2024)

Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping. - Albert H. Li; Preston Culbertson; Aaron D. Ames (IROS, 2024)

Data-Driven Predictive Control for Robust Exoskeleton Locomotion. - Kejun Li; Jeeseop Kim; Xiaobin Xiong; Kaveh Akbari Hamed; Yisong Yue; Aaron D. Ames (IROS, 2024)

Learned Regions of Attraction for Safe Motion Primitive Transitions. - Wyatt Ubellacker; Aaron D. Ames (IROS, 2024)

Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification. - Prithvi Akella; Anushri Dixit; Mohamadreza Ahmadi; Joel W. Burdick; Aaron D. Ames (Artif. Intell., 2024)

Safety-critical control for autonomous systems: Control barrier functions via reduced-order models. - Max H. Cohen; Tamás G. Molnár; Aaron D. Ames (Annu. Rev. Control., 2024)

Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control. - Nikolai Matni; Aaron D. Ames; John C. Doyle 001 (CoRR, 2024)

Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks. - Inigo Incer; Noel Csomay-Shanklin; Aaron D. Ames; Richard M. Murray (CoRR, 2024)

Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification. - Prithvi Akella; Anushri Dixit; Mohamadreza Ahmadi; Lars Lindemann; Margaret P. Chapman; George J. Pappas; Aaron D. Ames; Joel W. Burdick (CoRR, 2024)

Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications. - Josefine B. Graebener; Apurva S. Badithela; Denizalp Goktas; Wyatt Ubellacker; Eric V. Mazumdar; Aaron D. Ames; Richard M. Murray (CoRR, 2024)

Safety-critical Locomotion of Biped Robots in Infeasible Paths: Overcoming Obstacles during Navigation toward Destination. - Jaemin Lee; Min Dai; Jeeseop Kim; Aaron D. Ames (CoRR, 2024)

DROP: Dexterous Reorientation via Online Planning. - Albert H. Li; Preston Culbertson; Vince Kurtz; Aaron D. Ames (CoRR, 2024)

A Contract Theory for Layered Control Architectures. - Manuel Mazo Jr. 002; William D. Compton; Max H. Cohen; Aaron D. Ames (CoRR, 2024)

Robust Adaptive Safe Robotic Grasping with Tactile Sensing. - Yitaek Kim; Jeeseop Kim; Albert H. Li; Aaron D. Ames; Christoffer Sloth (CoRR, 2024)

Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes. - Noel Csomay-Shanklin; William D. Compton; Aaron D. Ames (CoRR, 2024)

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice. - William D. Compton; Noel Csomay-Shanklin; Cole Johnson; Aaron D. Ames (CoRR, 2024)

Minimizing Conservatism in Safety-Critical Control for Input-Delayed Systems via Adaptive Delay Estimation. - Yitaek Kim; Ersin Das; Jeeseop Kim; Aaron D. Ames; Joel W. Burdick; Christoffer Sloth (CoRR, 2024)

Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems. - Max H. Cohen; Ryan K. Cosner; Aaron D. Ames (IEEE Control. Syst. Lett., 2024)

Bounding Stochastic Safety: Leveraging Freedman's Inequality With Discrete-Time Control Barrier Functions. - Ryan K. Cosner; Preston Culbertson; Aaron D. Ames (IEEE Control. Syst. Lett., 2024)

Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety. - Ersin Das; Aaron D. Ames; Joel W. Burdick (IEEE Control. Syst. Lett., 2024)

Layered Control Systems Operating on Multiple Clocks. - Inigo Incer; Noel Csomay-Shanklin; Aaron D. Ames; Richard M. Murray (IEEE Control. Syst. Lett., 2024)

Rectified Control Barrier Functions for High-Order Safety Constraints. - Pio Ong; Max H. Cohen; Tamás G. Molnár; Aaron D. Ames (IEEE Control. Syst. Lett., 2024)

Risk-Averse Decision Making Under Uncertainty. - Mohamadreza Ahmadi; Ugo Rosolia; Michel D. Ingham; Richard M. Murray; Aaron D. Ames (IEEE Trans. Autom. Control., 2024)

Safety-Critical Controller Synthesis with Reduced-Order Models. - Max H. Cohen; Noel Csomay-Shanklin; William D. Compton; Tamás G. Molnár; Aaron D. Ames (ACC, 2025)

Bézier Reachable Polytopes: Efficient Certificates for Robust Motion Planning with Layered Architectures. - Noel Csomay-Shanklin; Aaron D. Ames (ACC, 2025)

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control. - Min Dai; Aaron D. Ames (ACC, 2025)

Layered Nonlinear Model Predictive Control for Robust Stabilization of Hybrid Systems. - Zachary Olkin; Aaron D. Ames (ACC, 2025)

Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints. - Xiao Tan; Ersin Das; Aaron D. Ames; Joel W. Burdick (ACC, 2025)

Computationally Efficient Safe Control of Linear Systems under Severe Sensor Attacks. - Xiao Tan; Pio Ong; Paulo Tabuada; Aaron D. Ames (ACC, 2025)

Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions. - William D. Compton; Max H. Cohen; Aaron D. Ames (L4DC, 2025)

Preferential Multi-Objective Bayesian Optimization. - Raul Astudillo; Kejun Li; Maegan Tucker; Chu Xin Cheng; Aaron D. Ames; Yisong Yue (Trans. Mach. Learn. Res., 2025)

Categorical Lyapunov Theory I: Stability of Flows. - Aaron D. Ames; Joe Moeller; Paulo Tabuada (CoRR, 2025)

Reduced-Order Model Guided Contact-Implicit Model Predictive Control for Humanoid Locomotion. - Sergio A. Esteban; Vince Kurtz; Adrian B. Ghansah; Aaron D. Ames (CoRR, 2025)

Control Barrier Function Synthesis for Nonlinear Systems with Dual Relative Degree. - Gilbert Bahati; Ryan K. Cosner; Max H. Cohen; Ryan M. Bena; Aaron D. Ames (CoRR, 2025)

Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. - Prithvi Akella; Mohamadreza Ahmadi; Richard M. Murray; Aaron D. Ames (IEEE Trans. Autom. Control., 2025)

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation. - Gilbert Bahati; Ryan M. Bena; Aaron D. Ames (CoRR, 2025)

Secure Safety Filter Design for Sampled-data Nonlinear Systems under Sensor Spoofing Attacks. - Xiao Tan; Pio Ong; Paulo Tabuada; Aaron D. Ames (CoRR, 2025)

Secure Safety Filter: Towards Safe Flight Control under Sensor Attacks. - Xiao Tan; Junior Sundar; Renzo Bruzzone; Pio Ong; Willian T. Lunardi; Martin Andreoni; Paulo Tabuada; Aaron D. Ames (CoRR, 2025)

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics. - Lizhi Yang; Blake Werner; Ryan K. Cosner; David Fridovich-Keil; Preston Culbertson; Aaron D. Ames (CoRR, 2025)

Bracing for Impact: Robust Humanoid Push Recovery and Locomotion with Reduced Order Models. - Lizhi Yang; Blake Werner; Adrian B. Ghansah; Aaron D. Ames (CoRR, 2025)

Categorical Lyapunov Theory II: Stability of Systems. - Aaron D. Ames; Sébastien Mattenet; Joe Moeller (CoRR, 2025)

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control. - Zachary Olkin; Aaron D. Ames (CoRR, 2025)

Judo: A User-Friendly Open-Source Package for Sampling-Based Model Predictive Control. - Albert H. Li; Brandon Hung; Aaron D. Ames; Jiuguang Wang; Simon Le Cleac'h; Preston Culbertson (CoRR, 2025)

On the Properties of Optimal-Decay Control Barrier Functions. - Pio Ong; Max H. Cohen; Tamás G. Molnár; Aaron D. Ames (CoRR, 2025)

CLF-RL: Control Lyapunov Function Guided Reinforcement Learning. - Kejun Li; Zachary Olkin; Yisong Yue; Aaron D. Ames (CoRR, 2025)

Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis. - Kejun Li; Jeeseop Kim; Maxime Brunet; Marine Pétriaux; Yisong Yue; Aaron D. Ames (CoRR, 2025)

Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC. - Ryan M. Bena; Gilbert Bahati; Blake Werner; Ryan K. Cosner; Lizhi Yang; Aaron D. Ames (CoRR, 2025)

Matrix Control Barrier Functions. - Pio Ong; Yicheng Xu; Ryan M. Bena; Faryar Jabbari; Aaron D. Ames (CoRR, 2025)

Collision Avoidance and Geofencing for Fixed-Wing Aircraft With Control Barrier Functions. - Tamás G. Molnár; Suresh K. Kannan; James Cunningham; Kyle Dunlap; Kerianne L. Hobbs; Aaron D. Ames (IEEE Trans. Control. Syst. Technol., 2025)