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Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications


Jan 23, 2023
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames

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Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data


Dec 12, 2022
Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames

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Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows


Oct 19, 2022
Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray

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* Submitted to ICRA 2023 

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Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control


Sep 27, 2022
Rachel Gehlhar, Aaron D. Ames

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* 7 pages, 5 figures 

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Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors


Sep 27, 2022
Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames

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* 7 pages, 7 figures, submitted to ICRA 2023 

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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization


Sep 21, 2022
Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames

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* 6 pages + 2 pages references 

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Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking


Sep 18, 2022
Min Dai, Xiaobin Xiong, Aaron D. Ames

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POLAR: Preference Optimization and Learning Algorithms for Robotics


Aug 08, 2022
Maegan Tucker, Kejun Li, Yisong Yue, Aaron D. Ames

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* 8 page main text, 2 page appendix, 5 figures 

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Safe Drone Flight with Time-Varying Backup Controllers


Jul 11, 2022
Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames

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* Submitted to IROS 2022 

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Control Barrier Functionals: Safety-critical Control for Time Delay Systems


Jun 16, 2022
Adam K. Kiss, Tamas G. Molnar, Aaron D. Ames, Gabor Orosz

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* Submitted to the International Journal of Robust and Nonlinear Control (JRNC). 25 pages, 3 figures 

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