Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis. - Krishan Bhakta; Jonathan Camargo; William D. Compton; Kinsey Herrin; Aaron J. Young (IEEE Robotics Autom. Lett., 2021)

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)

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)

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

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)

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