124 citations · 140 across the 13 of their papers we have counts for
8 papers · 1 filter
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker +2
This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous r…
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows
Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker +3
We study automated test generation for verifying discrete decision-making modules in autonomous systems. We utilize linear temporal logic to encode the requirements on the system u…
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
Wyatt Ubellacker, Aaron Ames
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is…
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamas G. Molnar +4
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement err…
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker +2
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting…
Model-Free Safety-Critical Control for Robotic Systems
Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary +2
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthe…
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamas G. Molnar +1
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This archit…