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)

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)

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)

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

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)

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

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)

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)

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)

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)

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)

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)

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)

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)

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)

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)

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)

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)