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)

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)

End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. - Ryan K. Cosner; Yisong Yue; 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)

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)

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)

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles. - Sushant Veer; Karen Leung; Ryan K. Cosner; Yuxiao Chen 008; Marco Pavone 001 (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)

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)

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)

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

Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving. - Ryan K. Cosner; Yuxiao Chen 008; Karen Leung; Marco Pavone 001 (ICRA, 2023)

Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles. - Sushant Veer; Karen Leung; Ryan K. Cosner; Yuxiao Chen 008; Péter Karkus; Marco Pavone 001 (ICRA, 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)

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

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)

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)

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)

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)

Learning Safe Control via On-the-Fly Bandit Exploration. - Alexandre Capone; Ryan K. Cosner; Aaaron Ames; Sandra Hirche (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)