A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure. - Anirban Mazumdar; Aaron Fittery; Wyatt Ubellacker; H. Harry Asada (ICRA, 2013)

A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system. - João Ramos 002; Albert Wang; Wyatt Ubellacker; John Mayo; Sangbae Kim (Humanoids, 2015)

The HERMES humanoid system: A platform for full-body teleoperation with balance feedback. - Albert Wang; João Ramos 002; John Mayo; Wyatt Ubellacker; Justin Cheung; Sangbae Kim (Humanoids, 2015)

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

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)

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

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)

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)

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 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)

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

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