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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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Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance


Oct 19, 2020
Andrew Singletary, Karl Klingebiel, Joseph Bourne, Andrew Browning, Phil Tokumaru, Aaron Ames

* 8 pages, submitted to RA-L 

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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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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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Learning for Safety-Critical Control with Control Barrier Functions


Dec 20, 2019
Andrew Taylor, Andrew Singletary, Yisong Yue, Aaron Ames

* Extended version (12 Pages), Short version submitted to Learning for Dynamics & Control (L4DC) 2020 Conference 

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Optimal Motion Planning for Multi-Modal Hybrid Locomotion


Sep 23, 2019
H. J. Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick


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Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions


Mar 19, 2019
Mohamadreza Ahmadi, Andrew Singletary, Joel W. Burdick, Aaron D. Ames

* 8 pages and 4 figures 

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