Wyatt Ubellacker

Publication Activity (10 Years)

Years Active: 2013-2024
Publications (10 Years): 27

Top Topics

Partially Observable Environments

Model Predictive Control

Safety Critical

Top Venues

IEEE Robotics Autom. Lett.

Publications

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. ICRA (2024)
Josefine B. Graebener, Apurva S. Badithela, Denizalp Goktas, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications. CoRR (2024)
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. 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)
Wyatt Ubellacker, Aaron D. Ames
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. ICRA (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)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. IROS (2023)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Safety-Critical Controller Verification via Sim2Real Gap Quantification. ICRA (2023)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR (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)
Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
Safety-Critical Controller Verification via Sim2Real Gap Quantification. CoRR (2022)
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames
Safety-Aware Preference-Based Learning for Safety-Critical Control. L4DC (2022)
Wyatt Ubellacker, Aaron D. Ames
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. CoRR (2022)
Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames
Model-Free Safety-Critical Control for Robotic Systems. IEEE Robotics Autom. Lett. 7 (2) (2022)
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. CoRR (2022)
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames
Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. IEEE Robotics Autom. Lett. 7 (2) (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. ICRA (2022)
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. IROS (2021)
Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. CoRR (2021)
Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames
Model-Free Safety-Critical Control for Robotic Systems. CoRR (2021)
Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. CoRR (2021)
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames
Safety-Aware Preference-Based Learning for Safety-Critical Control. CoRR (2021)
Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames
Interactive multi-modal motion planning with Branch Model Predictive Control. CoRR (2021)
Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. 6 (4) (2021)
João Ramos, Albert Wang, Wyatt Ubellacker, John Mayo, Sangbae Kim
A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system. Humanoids (2015)
Albert Wang, João Ramos, John Mayo, Wyatt Ubellacker, Justin Cheung, Sangbae Kim
The HERMES humanoid system: A platform for full-body teleoperation with balance feedback. Humanoids (2015)
Anirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada
A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure. ICRA (2013)