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Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments


Oct 03, 2021
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames


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Model-Free Safety-Critical Control for Robotic Systems


Sep 19, 2021
Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames

* Submitted to the IEEE Robotics and Automation Letters (RA-L) and the 2022 IEEE International Conference on Robotics and Automation (ICRA). 8 pages, 5 figures 

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Interactive multi-modal motion planning with Branch Model Predictive Control


Sep 18, 2021
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames


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Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics


Sep 10, 2021
Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames

* 8 pages, 9 figures 

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Risk-Averse Decision Making Under Uncertainty


Sep 09, 2021
Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames

* arXiv admin note: substantial text overlap with arXiv:2012.02423 

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Control Lyapunov Functions for Compliant Hybrid Zero Dynamic Walking


Jul 09, 2021
Jenna Reher, Aaron D. Ames

* Paper in preparation for submission to IEEE Transactions on Robotics (T-RO) 

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Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots


Jun 18, 2021
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamas G. Molnar, Aaron D. Ames


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Model-Dependent Prosthesis Control with Real-Time Force Sensing


May 24, 2021
Rachel Gehlhar, Je-han Yang, Aaron D. Ames

* 8 pages, 7 figures, submitted to IROS 2021 

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Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety


May 04, 2021
Noel Csomay-Shanklin, Ryan K. Cosner, Min Dai, Andrew J. Taylor, Aaron D. Ames

* 13 pages, 4 figures, to appear at the Conference on Learning for Dynamics and Control 2021 

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Risk-Averse Stochastic Shortest Path Planning


Mar 26, 2021
Mohamadreza Ahmadi, Anushri Dixit, Joel W. Burdick, Aaron D. Ames


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Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach


Mar 08, 2021
Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames, Yisong Yue


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Learning Controller Gains on Bipedal Walking Robots via User Preferences


Feb 25, 2021
Noel Csomay-Shanklin, Maegan Tucker, Min Dai, Jenna Reher, Aaron D. Ames

* 8 pages, 7 figures, submitted to RA-L with IROS 2021 option 

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Constrained Risk-Averse Markov Decision Processes


Dec 04, 2020
Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames

* Draft Accepted for Presentation at The Thirty-Fifth AAAI Conference on Artificial Intelligence (AAAI-21), Feb. 2-9, 2021 

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Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty


Nov 21, 2020
Andrew J. Taylor, Victor D. Dorobantu, Sarah Dean, Benjamin Recht, Yisong Yue, Aaron D. Ames

* 23 pages, 8 figures, submitted to Learning for Dynamics & Control 2021 (L4DC) 

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Lidar-based exploration and discretization for mobile robot planning


Nov 19, 2020
Yuxiao Chen, Andrew Singletary, Aaron D. Ames


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Decentralized Task and Path Planning for Multi-Robot Systems


Nov 19, 2020
Yuxiao Chen, Ugo Rosolia, Aaron D. Ames


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Preference-Based Learning for User-Guided HZD Gait Generation on Bipedal Walking Robots


Nov 10, 2020
Maegan Tucker, Noel Csomay-Shanklin, Wen-Loong Ma, Aaron D. Ames

* 6 pages + 1 page references; 4 figures 

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Model-Dependent Prosthesis Control with Interaction Force Estimation


Nov 10, 2020
Rachel Gehlhar, Aaron D. Ames

* 7 pages, 6 figures 

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ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes


Nov 09, 2020
Kejun Li, Maegan Tucker, Erdem Bıyık, Ellen Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames

* 6 pages; 7 figures 

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Reactive motion planning with probabilistics safety guarantees


Nov 06, 2020
Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron D. Ames, Richard Murray

* In the Conference on Robotic Learning 2020 

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Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion


Nov 03, 2020
Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames


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Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control


Oct 30, 2020
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter

* Submitted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions


Oct 30, 2020
Sarah Dean, Andrew J. Taylor, Ryan K. Cosner, Benjamin Recht, Aaron D. Ames


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Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking


Oct 18, 2020
Jenna Reher, Aaron D. Ames

* Submitted to 2021 IEEE ICRA and Robotics and Automation Letters (RA-L) 

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Dynamic Walking: Toward Agile and Efficient Bipedal Robots


Oct 15, 2020
Jenna Reher, Aaron D. Ames

* To appear in the Annual Review of Control, Robotics, and Autonomous Systems 

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Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions


Jun 01, 2020
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames


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Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties


Apr 11, 2020
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick


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Formal Test Synthesis for Safety-Critical Autonomous Systems based on Control Barrier Functions


Apr 08, 2020
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames


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Barrier Functions for Multiagent-POMDPs with DTL Specifications


Mar 19, 2020
Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames

* arXiv admin note: text overlap with arXiv:1903.07823 

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Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses


Mar 17, 2020
Rachel Gehlhar, Yuxiao Chen, Aaron D. Ames

* 8 pages 8 figures 

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