124 citations · 140 across the 13 of their papers we have counts for
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cs.RO2023
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…
math.OC2023
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursiv…