94 citations · 243 across the 18 of their papers we have counts for
18 papers
Formal Verification of Safety Critical Autonomous Systems via Bayesian Optimization
Prithvi Akella, Ugo Rosolia, Andrew Singletary +1
As control systems become increasingly more complex, there exists a pressing need to find systematic ways of verifying them. To address this concern, there has been significant wor…
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping
Xiaobin Xiong, Aaron Ames
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using r…
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
Xiaobin Xiong, Aaron Ames
In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a co…
Integral Control Barrier Functions for Dynamically Defined Control Laws
Aaron D. Ames, Gennaro Notomista, Yorai Wardi +1
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the…
Learning for Safety-Critical Control with Control Barrier Functions
Andrew Taylor, Andrew Singletary, Yisong Yue +1
Modern nonlinear control theory seeks to endow systems with properties of stability and safety, and have been deployed successfully in multiple domains. Despite this success, model…
Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems
Filip Klaesson, Petter Nilsson, Aaron D. Ames +1
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent syst…