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Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision

Mar 02, 2022
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamas G. Molnar, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman

* 7 pages, 4 figures, conference publication at ICRA 2022 

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Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification

Jan 04, 2022
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames

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Safety-Aware Preference-Based Learning for Safety-Critical Control

Dec 15, 2021
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames

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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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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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