SMARTI: A 60-mg Steerable Robot Driven by High-Frequency Shape-Memory Alloy Actuation. - Ryan M. Bena; Xuan-Truc Nguyen; Ariel A. Calderón; Alberto Rigo; Néstor Osvaldo Pérez-Arancibia (IEEE Robotics Autom. Lett., 2021)

A Multiplatform Position Control Scheme for Flying Robotic Insects. - Ryan M. Bena; Xuan-Truc Nguyen; Xiufeng Yang; Ariel A. Calderón; Ying Chen 020; Néstor Osvaldo Pérez-Arancibia (J. Intell. Robotic Syst., 2022)

A Memristor-Based Analog Accelerator for Solving Quadratic Programming Problems. - Hsiang-Chun Cheng; Shiyu Su; Mayank Palaria; Qiaochu Zhang; Ce Yang; Sushmit Hossain; Ryan M. Bena; Buyun Chen; Zerui Liu; Juzheng Liu; Rezwan A. Rasul; Quan Nguyen 004; et al. (CICC, 2023)

Analog Kalman Filter with Integration and Digitization via a Shared Thyristor-Based VCO for Sensor Fusion in 65 nm CMOS. - Mayank Palaria; Shiyu Su; Hsiang-Chun Cheng; Rezwan A. Rasul; Qiaochu Zhang; Soumya Mahapatra; Chong-Fatt Law; Sushmit Hossain; Ryan M. Bena; Wei Wu; Quan Nguyen 004; Mike Shuo-Wei Chen (ESSCIRC, 2023)

A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control. - Ryan M. Bena; Sushmit Hossain; Buyun Chen; Wei Wu; Quan Nguyen 004 (ICRA, 2023)

High-Performance Six-DOF Flight Control of the Bee$^{++}$: An Inclined-Stroke-Plane Approach. - Ryan M. Bena; Xiufeng Yang; Ariel A. Calderón; Néstor Osvaldo Pérez-Arancibia (IEEE Trans. Robotics, 2023)

Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments. - Ryan M. Bena; Chongbo Zhao; Quan Nguyen 004 (IEEE Robotics Autom. Lett., 2023)

MPS: A New Method for Selecting the Stable Closed-Loop Equilibrium Attitude-Error Quaternion of a UAV During Flight. - Francisco M. F. R. Gonçalves; Ryan M. Bena; Konstantin I. Matveev; Néstor Osvaldo Pérez-Arancibia (ICRA, 2024)

Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight. - Francisco M. F. R. Gonçalves; Ryan M. Bena; Néstor Osvaldo Pérez-Arancibia (ROBIO, 2024)

A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight. - Francisco M. F. R. Gonçalves; Ryan M. Bena; Konstantin I. Matveev; Néstor Osvaldo Pérez-Arancibia (ROBOT, 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)

Dynamic Safety in Complex Environments: Synthesizing Safety Filters with Poisson's Equation. - Gilbert Bahati; Ryan M. Bena; 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)