Research Summary
Robotics, nonlinear control, hybrid systems and cyber-physical systems
Publications
- Akella, Prithvi;Dixit, Anushri et al. (2024) Sample-based bounds for coherent risk measures: Applications to policy synthesis and verificationArtificial Intelligence
- Daş, Ersin;Ames, Aaron D. et al. (2024) Rollover Prevention for Mobile Robots With Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State SafetyIEEE Control Systems Letters
- Cohen, Max H.;Cosner, Ryan K. et al. (2024) Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable SystemsIEEE Control Systems Letters
- Incer, Inigo;Csomay-Shanklin, Noel et al. (2024) Layered Control Systems Operating on Multiple ClocksIEEE Control Systems Letters
- Cosner, Ryan K.;Culbertson, Preston et al. (2024) Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier FunctionsIEEE Control Systems Letters
- Matni, Nikolai;Ames, Aaron D. et al. (2024) A Quantitative Framework for Layered Multirate Control: Toward a Theory of Control ArchitectureIEEE Control Systems
- Pandala, Abhishek;Ames, Aaron D. et al. (2024) 𝓗₂- and 𝓗∞-Optimal Model Predictive Controllers for Robust Legged LocomotionIEEE Open Journal of Control Systems
- Cohen, Max H.;Ong, Pio et al. (2023) Characterizing Smooth Safety Filters via the Implicit Function TheoremIEEE Control Systems Letters
- Molnar, Tamas G.;Ames, Aaron D. (2023) Composing Control Barrier Functions for Complex Safety SpecificationsIEEE Control Systems Letters
- Ong, Pio;Ames, Aaron D. (2023) Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers