Aaron D. Ames

ORCID

Publication Activity (10 Years)

Years Active: 2004-2024
Publications (10 Years): 420

Top Venues

Publications

Nikolai Matni, Aaron D. Ames, John C. Doyle
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control. CoRR (2024)
Mohamadreza Ahmadi, Ugo Rosolia, Michel D. Ingham, Richard M. Murray, Aaron D. Ames
Risk-Averse Decision Making Under Uncertainty. IEEE Trans. Autom. Control. 69 (1) (2024)
Inigo Incer, Noel Csomay-Shanklin, Aaron D. Ames, Richard M. Murray
Specifying and Analyzing Networked and Layered Control Systems Operating on Multiple Clocks. CoRR (2024)
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CoRR (2023)
Tamás G. Molnár, Gábor Orosz, Aaron D. Ames
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CDC (2023)
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
A Data-driven Method for Safety-critical Control: Designing Control Barrier Functions from State Constraints. CoRR (2023)
Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames
Input-to-State Stability in Probability. CoRR (2023)
Prithvi Akella, Mohamadreza Ahmadi, Richard M. Murray, Aaron D. Ames
Barrier-Based Test Synthesis for Safety-Critical Systems Subject to Timed Reach-Avoid Specifications. CoRR (2023)
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. ICRA (2023)
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. CoRR (2023)
Albert H. Li, Preston Culbertson, Aaron D. Ames
PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability. CoRR (2023)
Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. ICRA (2023)
Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. ICRA (2023)
Preston Culbertson, Ryan K. Cosner, Maegan Tucker, Aaron D. Ames
Input-to-State Stability in Probability. CDC (2023)
Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames
Characterizing Smooth Safety Filters via the Implicit Function Theorem. CoRR (2023)
Andrew Singletary, Mohamadreza Ahmadi, Aaron D. Ames
Safe Control for Nonlinear Systems With Stochastic Uncertainty via Risk Control Barrier Functions. IEEE Control. Syst. Lett. 7 (2023)
Tamás G. Molnár, Aaron D. Ames
Composing Control Barrier Functions for Complex Safety Specifications. CoRR (2023)
Ryan K. Cosner, Igor Sadalski, Jana K. Woo, Preston Culbertson, Aaron D. Ames
Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions. CoRR (2023)
Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames
Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. IROS (2023)
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. IROS (2023)
Maegan Tucker, Aaron D. Ames
An Input-to-State Stability Perspective on Robust Locomotion. CoRR (2023)
Tamás G. Molnár, Aaron D. Ames
Composing Control Barrier Functions for Complex Safety Specifications. IEEE Control. Syst. Lett. 7 (2023)
Alexandre Capone, Ryan K. Cosner, Aaron D. Ames, Sandra Hirche
Safe Online Dynamics Learning with Initially Unknown Models and Infeasible Safety Certificates. CoRR (2023)
Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. CoRR (2023)
Rachel Gehlhar, Aaron D. Ames
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. ICRA (2023)
Ugo Rosolia, Yuxiao Chen, Shreyansh Daftry, Masahiro Ono, Yisong Yue, Aaron D. Ames
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: The Exact Solution and Practical Algorithms. IEEE Trans. Autom. Control. 68 (7) (2023)
Jaemin Lee, Jeeseop Kim, Aaron D. Ames
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots. CoRR (2023)
Maegan Tucker, Aaron D. Ames
An Input-to-State Stability Perspective on Robust Locomotion. IEEE Control. Syst. Lett. 7 (2023)
Randall T. Fawcett, Aaron D. Ames, Kaveh Akbari Hamed
Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach. IEEE Access 11 (2023)
Tamás G. Molnár, Gábor Orosz, Aaron D. Ames
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions. CoRR (2023)
Tamás G. Molnár, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
Safety-Critical Control With Input Delay in Dynamic Environment. IEEE Trans. Control. Syst. Technol. 31 (4) (2023)
Min Dai, Jaemin Lee, Aaron D. Ames
Multi-Domain Walking with Reduced-Order Models of Locomotion. CoRR (2023)
Tamás G. Molnár, Aaron D. Ames
Safety-Critical Control with Bounded Inputs via Reduced Order Models. ACC (2023)
Anil Alan, Andrew J. Taylor, Chaozhe R. He, Aaron D. Ames, Gábor Orosz
Control Barrier Functions and Input-to-State Safety With Application to Automated Vehicles. IEEE Trans. Control. Syst. Technol. 31 (6) (2023)
Prithvi Akella, Skylar X. Wei, Joel W. Burdick, Aaron D. Ames
Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data. L4DC (2023)
Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. IROS (2023)
Maegan Tucker, Kejun Li, Aaron D. Ames
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion. CoRR (2023)
Wyatt Ubellacker, Aaron D. Ames
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. ICRA (2023)
Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz
Parameterized Barrier Functions to Guarantee Safety under Uncertainty. CoRR (2023)
Pio Ong, Aaron D. Ames
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CoRR (2023)
Gilbert Bahati, Pio Ong, Aaron D. Ames
Violation-Free Inter-Sampling Safety: from Control Barrier Functions to Tunable Controllers with Input-to-State Safety Guarantees. CoRR (2023)
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions. CoRR (2023)
Pio Ong, Aaron D. Ames
Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers. CDC (2023)
Adrian B. Ghansah, Jeeseop Kim, Maegan Tucker, Aaron D. Ames
Humanoid Robot Co-Design: Coupling Hardware Design with Gait Generation via Hybrid Zero Dynamics. CDC (2023)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. CoRR (2023)
Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. CoRR (2023)
Rachel Gehlhar, Maegan Tucker, Aaron J. Young, Aaron D. Ames
A review of current state-of-the-art control methods for lower-limb powered prostheses. Annu. Rev. Control. 55 (2023)
Tamás G. Molnár, Aaron D. Ames
Safety-Critical Control with Bounded Inputs via Reduced Order Models. CoRR (2023)
Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles. CoRR (2023)
Albert H. Li, Preston Culbertson, Joel W. Burdick, Aaron D. Ames
FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric. CoRR (2023)
Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. IEEE Trans. Robotics 39 (6) (2023)
Prithvi Akella, Apurva Badithela, Richard M. Murray, Aaron D. Ames
Lipschitz Continuity of Signal Temporal Logic Robustness Measures: Synthesizing Control Barrier Functions from One Expert Demonstration. CoRR (2023)
Ryan K. Cosner, Preston Culbertson, Andrew J. Taylor, Aaron D. Ames
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions. Robotics: Science and Systems (2023)
Anil Alan, Tamás G. Molnár, Ersin Das, Aaron D. Ames, Gábor Orosz
Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions. IEEE Control. Syst. Lett. 7 (2023)
Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. ICRA (2023)
Jeeseop Kim, Jaemin Lee, Aaron D. Ames
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions. IROS (2023)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. IROS (2023)
Max H. Cohen, Pio Ong, Gilbert Bahati, Aaron D. Ames
Characterizing Smooth Safety Filters via the Implicit Function Theorem. IEEE Control. Syst. Lett. 7 (2023)
Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. ICRA (2023)
Anil Alan, Tamás G. Molnár, Aaron D. Ames, Gábor Orosz
Parameterized Barrier Functions to Guarantee Safety Under Uncertainty. IEEE Control. Syst. Lett. 7 (2023)
Hanna Krasowski, Prithvi Akella, Aaron D. Ames, Matthias Althoff
Safe Reinforcement Learning with Probabilistic Guarantees Satisfying Temporal Logic Specifications in Continuous Action Spaces. CDC (2023)
Prithvi Akella, Aaron D. Ames
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CoRR (2023)
Prithvi Akella, Aaron D. Ames
Bounding Optimality Gaps for Non-Convex Optimization Problems: Applications to Nonlinear Safety-Critical Systems. CDC (2023)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Safety-Critical Controller Verification via Sim2Real Gap Quantification. ICRA (2023)
Rachel Gehlhar, Aaron D. Ames
Emulating Human Kinematic Behavior on Lower-Limb Prostheses via Multi-Contact Models and Force-Based Nonlinear Control. CoRR (2022)
Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors. CoRR (2022)
Prithvi Akella, Aaron D. Ames
Disturbance Bounds for Signal Temporal Logic Task Satisfaction: A Dynamics Perspective. IEEE Control. Syst. Lett. 6 (2022)
Ryan K. Cosner, Yisong Yue, Aaron D. Ames
End-to-End Imitation Learning with Safety Guarantees using Control Barrier Functions. CDC (2022)
Xiaobin Xiong, Aaron D. Ames
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. IEEE Trans. Robotics 38 (4) (2022)
Jeeseop Kim, Randall T. Fawcett, Vinay R. Kamidi, Aaron D. Ames, Kaveh Akbari Hamed
Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. CoRR (2022)
Randall T. Fawcett, Kereshmeh Afsari, Aaron D. Ames, Kaveh Akbari Hamed
Toward a Data-Driven Template Model for Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 7 (3) (2022)
Prithvi Akella, Mohamadreza Ahmadi, Aaron D. Ames
A Scenario Approach to Risk-Aware Safety-Critical System Verification. CoRR (2022)
Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. CoRR (2022)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR (2022)
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. CoRR (2022)
Anil Alan, Andrew J. Taylor, Chaozhe R. He, Gábor Orosz, Aaron D. Ames
Safe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions. IEEE Control. Syst. Lett. 6 (2022)
Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue, Paulo Tabuada, Aaron D. Ames
Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs. IEEE Control. Syst. Lett. 6 (2022)
Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames
Safe Backstepping with Control Barrier Functions. CDC (2022)
Randall T. Fawcett, Leila Amanzadeh, Jeeseop Kim, Aaron D. Ames, Kaveh Akbari Hamed
Distributed Data-Driven Predictive Control for Multi-Agent Collaborative Legged Locomotion. CoRR (2022)
Prithvi Akella, Aaron D. Ames
A Barrier-Based Scenario Approach to Verifying Safety-Critical Systems. IEEE Robotics Autom. Lett. 7 (4) (2022)
Ugo Rosolia, Aaron D. Ames
Iterative Model Predictive Control for Piecewise Systems. IEEE Control. Syst. Lett. 6 (2022)
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. CoRR (2022)
Min Dai, Xiaobin Xiong, Aaron D. Ames
Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. CoRR (2022)
Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue
LyaNet: A Lyapunov Framework for Training Neural ODEs. CoRR (2022)
Andrew J. Taylor, Pio Ong, Tamás G. Molnár, Aaron D. Ames
Safe Backstepping with Control Barrier Functions. CoRR (2022)
Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames
Safety-Critical Manipulation for Collision-Free Food Preparation. CoRR (2022)
Ugo Rosolia, Andrew Singletary, Aaron D. Ames
Unified Multirate Control: From Low-Level Actuation to High-Level Planning. IEEE Trans. Autom. Control. 67 (12) (2022)
Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames
Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics. Humanoids (2022)
Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. IROS (2022)
Kejun Li, Maegan Tucker, Rachel Gehlhar, Yisong Yue, Aaron D. Ames
Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics. IEEE Robotics Autom. Lett. 7 (2) (2022)
Pio Ong, Gilbert Bahati, Aaron D. Ames
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CDC (2022)
Ivan Dario Jimenez Rodriguez, Aaron D. Ames, Yisong Yue
LyaNet: A Lyapunov Framework for Training Neural ODEs. ICML (2022)
Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames
Safe Drone Flight with Time-Varying Backup Controllers. CoRR (2022)
Tamás G. Molnár, Anil Alan, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control. CoRR (2022)
Prithvi Akella, Anushri Dixit, Mohamadreza Ahmadi, Joel W. Burdick, Aaron D. Ames
Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification. CoRR (2022)
Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner, Yisong Yue, Aaron D. Ames
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models. CDC (2022)
Pio Ong, Gilbert Bahati, Aaron D. Ames
Stability and Safety through Event-Triggered Intermittent Control with Application to Spacecraft Orbit Stabilization. CoRR (2022)
Kunal Garg, Ryan K. Cosner, Ugo Rosolia, Aaron D. Ames, Dimitra Panagou
Multi-Rate Control Design Under Input Constraints via Fixed-Time Barrier Functions. IEEE Control. Syst. Lett. 6 (2022)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Safety-Critical Controller Verification via Sim2Real Gap Quantification. CoRR (2022)
Andrew Singletary, William Guffey, Tamás G. Molnár, Ryan W. Sinnet, Aaron D. Ames
Safety-Critical Manipulation for Collision-Free Food Preparation. IEEE Robotics Autom. Lett. 7 (4) (2022)

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Publication Activity (10 Years)

Top Topics

Top Venues

Aaron D. Ames