124 citations · 140 across the 13 of their papers we have counts for
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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…
Safety-Critical Controller Verification via Sim2Real Gap Quantification
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
The well-known quote from George Box states that: "All models are wrong, but some are useful." To develop more useful models, we quantify the inaccuracy with which a given model re…
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…
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
In this letter, the authors propose a two-step approach to evaluate and verify a true system's capacity to satisfy its operational objective. Specifically, whenever the system obje…