Publications from AMBER Lab by Subject (2008 - Present):
Note: For publications related to these topics that appeared before 2008, see the website of Aaron Ames.
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[82]
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W.L. Ma, S. Kolathaya, E.R. Ambrose, C.M. Hubicki and A.D. Ames
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment in: Proceedings of the 20th International Conference on Hybrid Systems : Computation and Control (HSCC2017) Experimental results shown in the video on the right. |
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[81]
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A. Agrawal, O. Harib, A. Hereid, S. Finet, M. Masselin, L. Praly, A Ames, K. Sreenath and J. Grizzle
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons in: IEEE Access, 2017 |
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[80]
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X. Xiong, J. Aguilar, J. Rieser, A. Kim, A. Ames and D. Goldman
Overshoot intrusion forces promote robophysical bipedal walking on homogenous granular media in: Bulletin of the American Physical Society 6 |
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[79]
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C. Hubicki, J. Aguilar, A. Kim, J. Rieser, A.D. Ames and D. Goldman
Paused intrusions improve robot jumping performance in granular media in: Bulletin of the American Physical Society 62 |
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[78]
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M.X. Grey, A.D. Ames and C.K. Liu
Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments in: arXiv preprint arXiv:1702.00425 |
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[77]
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M.X. Grey, A.D. Ames and C.K. Liu
Footstep and motion planning in semi-unstructured environments using randomized possibility graphs in: IEEE International Conference on Robotics and Automation (ICRA2017) |
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[76]
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A.D. Ames, X. Xu, J.W. Grizzle and P. Tabuada
Control Barrier Function Based Quadratic Programs for Safety Critical Systems IEEE Transactions on Automatic Control (TAC) |
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[75]
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A. Hereid, S. Kolathaya and A.D. Ames
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization in: IEEE 55th Conference on Decision and Control (CDC2016), 6173-6179 |
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[74]
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Q. Nguyen, A. Hereid, J.W. Grizzle, A.D. Ames and K. Sreenath
3D dynamic walking on stepping stones with control barrier functions in IEEE 55th Conference on Decision and Control (CDC2016), 827-834 |
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[73]
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M.J. Powell, W.L. Ma, E.R. Ambrose and A.D. Ames
Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization in: IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids2016) Experimental results shown in the video on the right. |
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[72]
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W.L. Ma, A. Hereid, C.M. Hubicki and A.D. Ames
Efficient hzd gait generation for three-dimensional underactuated humanoid running in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016) Experimental results shown in the video on the right. |
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[71]
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M.J. Powell and A.D. Ames
Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016) |
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[70]
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C.M. Hubicki, J.J. Aguilar, D.I. Goldman and A.D. Ames
Tractable terrain-aware motion planning on granular media: An impulsive jumping study in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016) |
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[69]
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M.X. Grey, C.R. Garrett, C.K. Liu, A.D. Ames and A.L. Thomaz
Humanoid manipulation planning using backward-forward search in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016) |
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[68]
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M.X. Grey, C.K. Liu, A.D. Ames
Traversing Environments Using Possibility Graphs with Multiple Action Types arXiv preprint arXiv:1610.0070 |
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[67]
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M.X. Grey, A.D. Ames, and C.K. Liu
Footstep and motion planning in semi-unstructured environments using possibility graphs arXiv preprint arXiv:1610.00700 |
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[66]
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M.X. Grey, A.D. Ames and C.K. Liu
Traversing Environments Using Possibility Graphs for Humanoid Robots arXiv preprint arXiv:1608.0384 |
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[65]
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S. Kolathaya, B.J. Morris, R.W. Sinnet and A.D. Ames
System Identification and Control through Efficient SVA–Based Regressor Computation arXiv preprint arXiv:1608.02683 |
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[64]
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K.Y. Chao, M.J. Powell, A.D. Ames and P. Hur
Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs American Control Conference (ACC), 2016, 3910-3915 |
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[63]
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J. Reher, E.A. Cousineau, A. Hereid, C.M. Hubicki, A.D. Ames
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS in: IEEE International Conference on Robotics and Automation (ICRA2016) , 1794-1801 |
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[62]
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A Hereid, EA Cousineau, CM Hubicki, AD Ames
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics in IEEE International Conference on Robotics and Automation (ICRA2016) , 1447-1454 |
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[61]
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C.M Hubicki, A. Hereid, M.X. Grey, A.L. Thomaz and A.D. Ames,
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion in IEEE International Conference on Robotics and Automation (ICRA2016) 1552-1559 |
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[60]
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M.J. Powell and A.D. Ames
Towards real-time parameter optimization for feasible nonlinear control with applications to robot locomotion in: American Control Conference (ACC2016), 3922-3927 |
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[59]
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A. Hereid, E. A. Cousineau, C. M. Hubicki and A. D. Ames
3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics in: International Conference on Robotics and Automation (ICRA), 2016. |
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[58]
[57] |
J. Reher, E. A. Cousineau, A. Hereid, C. M. Hubicki, and A. D. Ames
Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS in: International Conference on Robotics and Automation (ICRA), 2016. C. M. Hubicki, A. Hereid, M. X. Grey, A. L. Thomaz and A. D. Ames
Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion in: International Conference on Robotics and Automation (ICRA), 2016. |
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[56]
[55] |
S. Kolathaya, A. Hereid, and A. D. Ames
Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion To appear in: American Control Conference (ACC), 2016 K. Chao, M. Powell, A. D. Ames, and P. Hur
Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs To appear in: American Control Conference (ACC), 2016 |
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[54]
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M. Powell and A. D. Ames
Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion To appear in: American Control Conference (ACC), 2016 |
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[53]
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[52]
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B. J. Morris, M. J. Powell, A. D. Ames
Continuity and Smoothness Properties of Nonlinear Optimization-Based Feedback Controllers In: Conference on Decision and Control (CDC), 2015 |
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[51]
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K. Galloway, K. Sreenath, A. D. Ames, and J. W. Grizzle
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs In: IEEE Access, vol. 3, pp. 323 -332, 2015 |
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[50]
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S-C. Hsu, X. Xu and A. D. Ames
Control Barrier Function based Quadratic Programs with Application to Bipedal Robotic Walking in: American Control Conference (ACC), 2015. |
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[49]
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R. Sinnet and A. D. Ames
Energy Shaping of Hybrid Systems via Control Lyapunov Functions in: American Control Conference (ACC), 2015. |
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[48]
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A. Hereid, C. M. Hubicki, E. A. Cousineau, J. W. Hurst and A. D. Ames
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking In: IEEE International Conference on Robotics and Automation (ICRA), 2015. |
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[47]
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M. J. Powell, E. Cousineau and A. D. Ames
Model Predictive Control of Underactuated Bipedal Robotic Walking In: IEEE International Conference on Robotics and Automation (ICRA), 2015. |
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[46]
[45] |
E. Cousineau and A. D. Ames
Realizing Underactuated Bipedal Walking with Torque Controllers via the Ideal Model Resolved Motion Method in: IEEE International Conference on Robotics and Automation (ICRA), 2015. A. D. Ames, P. Tabuada, B. Schuermann, W. Ma, S. Kolathaya, M. Rungger and J. W. Grizzle
First Steps toward Formal Controller Synthesis for Bipedal Robots. In: 18th Hybrid Systems: Computation and Control (HSCC), 2015. |
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[44]
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N. A. Radford, P. Strawser, K. Hambuchen, J. S. Mehling, W. K. Berdyen, S. Donnan, J. Holley, J. Sanchez, V. Nguyen, L. Bridgwater, R. Berka, R. Ambrose, C. McQuin, J. D. Yamokoski, S. Hart, R. Guo, A. Parsons, B. Wightman, P. Dinh, B. Ames, C. Blakely, C. Edmonson, B. Sommers, R. Rea, C. Tobler, H. Bibby, B. Howard, L. Nui, A. Lee, M. Conover, L. Truong, D. Chesney, R. Platt Jr., G. Johnson, C. Fok, N. Paine, L. Sentis, E. Cousineau, R. Sinnet, J. Lack, M. Powell, B. Morris and A. D. Ames
Valkyrie: NASA's First Bipedal Humanoid Robot. In: Journal of Field Robotics, vol. 32, no. 3, pp 397–419, 2015. |
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[43]
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A. D. Ames and J. Holley.
Quadratic Program based Nonlinear Embedded Control of Series Elastic Actuators. In the IEEE Conference on Decision and Control (CDC), 2014. |
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[42]
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A. Hereid, M. J. Powell and A. D. Ames.
Embedding of SLIP Dynamics on Underactuated Bipedal Robot through Multi-Objective Quadratic Program based Control. In the IEEE Conference on Decision and Control (CDC), 2014. |
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[41]
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M. J. Powell and A. D. Ames.
Hierarchical Control of Series Elastic Actuators through Control Lyapunov Functions. In the IEEE Conference on Decision and Control (CDC), 2014. |
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[40]
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S. Kolathaya, W. Ma and A. D. Ames.
Composing Dynamical Systems to Realize Dynamic Robotic Dancing. In the Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. [Note: linked paper is the submitted version and will be updated] Experimental results shown in the video on the right. |
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[39]
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N. Dantam, D. M. Lofaro, A. Hereid, P. Oh, A. D. Ames and M. Stillman,
Multiprocess Communication and Control Software for Humanoid Robots. To appear in the IEEE RAS Robotics and Automation Magazine, 2014. |
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[38]
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J. W. Grizzle, C. Chevallereau, R. W. Sinnet, A. D. Ames.
Models, feedback control, and open problems of 3D bipedal robotic walking. In: Automatica, vol. 50, no. 8, pp. 1955-1988, 2014. [Note: linked paper is the submitted version and will be updated] |
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[37]
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H. Zhao, W. Ma, M. Zeagler and A. D. Ames
Human-Inspired Multi-Contact Locomotion with AMBER2. In the International Conference on Cyber-Physical Systems, 2014. [Note: linked paper is the submitted version and will be updated] Best paper award finalist |
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[36]
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A. Hereid, S. Kolathaya, M. S. Jones, J. Van Why, J. W. Hurst and A. D. Ames
Dynamic Multi-Domain Bipedal Walking with ATRIAS through SLIP based Human-Inspired Control To appear in Hybrid Systems: Computation and Control, 2014. DENSO Best Student Paper Award Note: Video on the right demonstrates the experimental results of the paper. |
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[35]
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S. Kolathaya, and A. D. Ames.
Exponential Convergence of a Unified CLF Controller for Robotic Systems under Parameter Uncertainty. To appear in the American Control Conference (ACC), 2014. |
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[34]
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W. Ma, H. Zhao, S. Kolathaya, and A. D. Ames.
Human-Inspired Walking via Unified PD and Impedance Control. In IEEE International Conference on Robotics and Automation (ICRA), 2014. [Note: linked paper is the submitted version and will be updated] |
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[33]
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J. Lack, M. J. Powell and A. D. Ames.
Planar Mulit-Contact Bipedal Walking Using Hybrid Zero Dynamics In IEEE International Conference on Robotics and Automation (ICRA), 2014. |
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[32]
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H. Zhao, M. J. Powell, A. D. Ames.
Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain. To appear in Optimal Control, Applications and Methods, 2014. |
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[31]
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B. Morris, M. Powell, and A. D. Ames,
Sufficient Conditions for the Lipschitz Continuity of QP-based Multi-Objective Control of Humanoid Robots. In the IEEE Conference on Decision and Control (CDC), 2013. |
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[30]
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A. R. Teel, R. Goebel, B. Morris, A D. Ames, and J. W. Grizzle,
A stabilization result with application to bipedal locomotion. In the IEEE Conference on Decision and Contrl (CDC), 2013. |
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[29]
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[28]
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A. D. Ames and M. J. Powell
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs. In the Workshop on the Control of Cyber-Physical Systems, to appear in Springer's Lecture Notes in Control and Information Science series, 2013. |
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[27]
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[26]
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[25]
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A. D. Ames.
Human-Inspired Control of Bipedal Robotics via Control Lyapunov Functions and Quadratic Programs. [Extended abstract accompanying keynote presentation for HSCC 2013] In Hybrid Systems: Computation and Control, 2013 |
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[24]
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[23]
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[22]
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R. W. Sinnet, S. Jiang and A. D. Ames.
A Human-Inspired Framework for Bipedal Robotic Walking Design. In the International Journal of Biomechatronics and Biomedical Robotics, Vol. 3, No. 1, pages 20–41, 2014. |
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[21]
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A. D. Ames, K. Galloway and J. W. Grizzle.
Control Lyapunov Functions and Hybrid Zero Dynamics. To appear in the IEEE Conference on Decision and Control (CDC), 2012. |
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[20]
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[19]
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H. Zhao, S. Nadubettu Yadukumar, and A. D. Ames.
Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization. To appear in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. |
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[18]
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[17]
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[16]
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R. Vasudevan, A. D. Ames and R. Bajcsy.
Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking. Accepted for publication in: Nonlinear Analysis: Hybrid Systems, special issue devoted to selected papers from the 2011 IFAC world congress, 2012. (Submitted version linked; the final version, with minor modification, will be uploaded when available.) |
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[15]
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R. W. Sinnet and A. D. Ames.
Extending Two-Dimensional Human-Inspired Bipedal Robotic Walking to Three Dimensions through Geometric Reduction. In the American Control Conference (ACC), 2012. |
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[14]
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S. Jiang, S. Patrick, H. Zhao, A. D. Ames.
Outputs of Human Walking for Bipedal Robotic Controller Design. In the American Control Conference (ACC), 2012. |
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[13]
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M. J. Powell, H. Zhao, and A. D. Ames.
Motion Primitives for Human-Inspired Bipedal Robotic Locomotion: Walking and Stair Climbing. In the IEEE International Conference on Robotics and Automation (ICRA), 2012. |
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[12]
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A. D. Ames.
First Steps Toward Underactuated Human-Inspired Bipedal Robotic Walking. In the IEEE International Conference on Robotics and Automation (ICRA), 2012. |
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[11]
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A. D. Ames, E. A. Cousineau, M. J. Powell.
Dynamically Stable Robotic Walking with NAO via Human-Inspired Hybrid Zero Dynamics. In Hybrid Systems: Computation and Control (HSCC), 2012. |
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[10]
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R. W. Sinnet, M. J. Powell, Shu Jiang and A. D. Ames.
Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions. In 50th IEEE Conference on Decision and Control and European Control Conference (CDC), 2011. |
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[9]
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A. D. Ames.
First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data. In 8th International Workshop on Robotic Motion and Control, (RoMoCo), 2011. Appeared as a book chapter in Robotic Motion and Control, 2011, K. Kozlowski eds, Lecture Notes in Control and Information Sciences, Volume 422, pages 89-116, 2012. |
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[8]
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R. W. Sinnet, M. J. Powell, R. P. Shah and A. D. Ames.
A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking. In 18th IFAC World Congress, Milano, Italy, 2011. |
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[7]
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R. Vasudevan, A. D. Ames and R. Bajcsy.
Using Persistent Homology to Determine a Human-Data Based Cost for Bipedal Walking. In 18th IFAC World Congress, Milano, Italy, 2011. |
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[6]
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A. D. Ames.
Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach. In Hybrid Systems: Computation and Control (HSCC), 2011. |
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[5]
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A. D. Ames, R. Vasudevan and R. Bajcsy.
Human-Data Based Cost of Bipedal Robotic Walking. In Hybrid Systems: Computation and Control (HSCC), 2011. |
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[4]
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J. W. Grizzle, C. Chevallereau, A. D. Ames and R. W. Sinnet.
3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems. In 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna, Italy, 2010. |
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[3]
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R. W. Sinnet and A. D. Ames.
3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach. In 48th IEEE Conference on Decision and Control (CDC), Shanghai, 2009. |
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[2]
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R. W. Sinnet and A. D. Ames.
2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach. In 48th IEEE Conference on Decision and Control (CDC), Shanghai, 2009. |
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[1]
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A. D. Ames, R. W. Sinnet and E. D. B. Wendel.
Three-dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach. In P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 Lecture Notes in Computer Science, pages 16-30. Springer-Verlag, 2009. |
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[12]
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H. Zhao, A. Hereid, E. Ambrose and A.D. Ames
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation in: IEEE 55th Conference on Decision and Control (CDC2016), 3668-3674 |
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[11]
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H.Zhao, J. Horn, J. Reher, V. Paredes and A.D.Ames
Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control IEEE Transactions on Automation Science and Engineering 12(2),502-513 |
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[10]
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H. Zhao, J. Horn, J. Reher, V. Paredes, and A. D. Ames
First Steps Toward Translating Robotic Walking to Prostheses: A Nonlinear Optimization based Control Approach To appear in: Autonomous Robots: Special Issue on Assistive and Rehabilitation Robotics, 2016 |
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[9]
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H. Zhao, J. Horn, J. Reher, V. Paredes, and A. D. Ames
Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. To appear in: IEEE Transactions on Automation Science and Engineering, 2016 |
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[8]
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H. Zhao, J. Horn, J. Reher, V. Paredes and A. D. Ames
A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses In: Conference on Decision and Control (CDC), 2015 |
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[7]
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H. Zhao, J. Reher, J. Horn, V. Paredes, and A. D. Ames
Realization of stair ascent and motion transition on prostheses utilizing optimization-based control and intent recognition In: International Conference on Rehabilitation Robot (ICORR), 2015 |
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[6]
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H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames
Realization of Nonlinear Real-Time Optimization Based Controllers on Self-Contained Transfemoral Prosthesis. To appear in: International Conference on Cyber-Physical Systems (ICCPS), 2015. |
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[5]
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H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames
Demonstration of Locomotion with the Powered Prosthesis AMPRO utilizing Online Optimization-Based Control Appear as a demonstration at Hybrid Systems: Computation and Control (HSCC), 2015. |
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[4]
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H. Zhao, S. Kolathaya and A. D. Ames.
Quadratic Programming and Impedance Control for Transfemoral Prosthesis. In IEEE International Conference on Robotics and Automation (ICRA), 2014. [Note: Linked version is submitted version, final version will be updated soon.] |
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[3]
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H. Zhao, and A. D. Ames.
Quadratic Program based Control of Fully-Actuated Transfemoral Prosthesis for Flat-Ground and Up-Slope Locomotion. To appear in the American Control Conference (ACC), 2013. [Note: Linked version is submitted version, final version will be updated soon.] |
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[2]
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N. Aghasadeghi, H. Zhao, L. J. Hargrove, A. D. Ames, E. J. Perreault, and T. Bretl,
Learning Impedance Controller Paramters for Lower-Limb Prostheses. In the International Conference on Intelligent Robots and Systems (IROS), 2013. |
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[1]
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R. W. Sinnet, Huihua Zhao and A. D. Ames.
Simulating Prosthetic Devices with Human-Inspired Hybrid Control. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS11), San Francisco, 2011. |
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[18]
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O. Hussien, A.D. Ames and P. Tabuada
Abstracting Partially Feedback Linearizable Systems Compositionally in: IEEE Control Systems Letters 1 (2), 227-232 |
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[17]
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A.D. Ames, P. Tabuada, A. Jones, W-L. Ma, M. Rungger, B. Schürmann, S. Kolathaya and J. W Grizzle
First steps toward formal controller synthesis for bipedal robots with experimental implementation in: Nonlinear Analysis: Hybrid Systems (NAHS) 25, 155-173 |
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[16]
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S. Kolathaya and A.D. Ames
Parameter to state stability of control lyapunov functions for hybrid system models of robots in: Nonlinear Analysis: Hybrid Systems (NAHS) 25, 174-191 |
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[14]
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S. Kolathaya, A. Hereid, and A. D. Ames
Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion in: American Control Conference (ACC), 2016 |
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[13]
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S. Kolathaya, and A. D. Ames
Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits In: Analysis and Design of Hybrid Systems (ADHS), 2015 |
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[12]
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M. Konecny, W. Taha, J. Duracz and A. D. Ames,
Enclosing the Behavior of Hybrid Systems up to and Beyond a Zeno Point. In the IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013. Best paper award. |
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[11]
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A. Lamperski and A. D. Ames.
Lyapunov Theory for Zeno Stability. Accepted for publication in the IEEE Transactions on Automatic Control, 2012. (Submitted version linked; the final version, with minor modification, will be uploaded when available.) |
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[10]
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[9]
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E. D. B. Wendel and A. D. Ames.
Rank Deficiency and Superstability of Hybrid Systems. In Nonlinear Analysis: Hybrid Systems, Vol. 6(2), pages 787-805, 2012. |
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[8]
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E. D. B. Wendel and A. D. Ames.
Rank Deficiency and Superstability of Hybrid Systems with Application to Bipedal Robots. In 50th IEEE Conference on Decision and Control and European Control Conference (CDC), 2011. |
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[7]
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A. D. Ames.
Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach. In Hybrid Systems: Computation and Control (HSCC), 2011. |
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[6]
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E. D. B. Wendel and A. D. Ames.
Rank Properties of Poincaré Maps for Hybrid Systems with Applications to Bipedal Walking. In Hybrid Systems: Computation and Control (HSCC), 2010. |
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[5]
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Y. Or and A. D. Ames.
Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems. In IEEE Transactions on Automatic Control, Vol. 56, 2011. |
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[4]
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Y. Or and A. D. Ames.
Existence of Periodic Orbits in Completed Lagrangian Hybrid Systems with Non-Plastic Impacts. In P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 Lecture Notes in Computer Science, pages 291-305. Springer-Verlag, 2009. |
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[3]
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Y. Or and A. D. Ames.
Formal and Practical Completion of Lagrangian Hybrid Systems. In the American Control Conference (ACC), 2009. |
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[2]
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Y. Or and A. D. Ames.
Stability of Zeno Equilibria in Lagrangian Hybrid Systems. In 47th IEEE Conference on Decision and Control (CDC), 2008. |
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[1]
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A. Lamperski and A. D. Ames.
On the Existence of Zeno Behavior in Hybrid Systems with Non-Isolated Zeno Equilibria. In 47th IEEE Conference on Decision and Control (CDC), 2008. |
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[23]
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L Wang, AD Ames and M Egerstedt
Safety Barrier Certificates for Collisions-Free Multirobot Systems in: IEEE Transactions on Robotics |
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[22]
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L.Wang, A.D. Ames and M. Egerstedt
Safe certificate-based maneuvers for teams of quadrotors using differential flatness in: arXiv preprint arXiv:1702.0107 |
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[21]
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L. Wang, A.D. Ames and M. Egerstedt
Multi-objective compositions for collision-free connectivity maintenance in teams of mobile robots in: IEEE 55th Conference on Decision and Control (CDC2016), 2659-2664 |
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[20]
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X. Xu, J.W. Grizzle, P. Tabuada, A.D. Ames
Correctness guarantees for the composition of lane keeping and adaptive cruise control arXiv preprint arXiv:1609.06807 |
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[19]
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A.D. Ames, X. Xu, J.W. Grizzle and P. Tabuada
Control barrier function based quadratic programs with application to automotive safety systems arXiv preprint arXiv:1609.06408 |
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[18]
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D. Pickem, P. Glotfelter, L. Wang, M. Mote, A. Ames, E. Feron and M. Egerstedt
The Robotarium: A remotely accessible swarm robotics research testbed arXiv preprint arXiv:1609.04730 |
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[17]
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L. Wang, A. Ames and M. Egerstedt,
Safety barrier certificates for heterogeneous multi-robot systems in: American Control Conference (ACC2016), 5213-5218 American Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218sAmerican Control Conference (ACC), 2016, 5213-5218AAmerican Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218American Control Conference (ACC), 2016, 5213-5218 |
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[16]
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P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D Ames, J. W Grizzle, N. Ozay, H. Peng and P. Tabuada
Correct-by-construction adaptive cruise control: Two approaches in IEEE Transactions on Control Systems Technology |
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[15]
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D. Pickem, L. Wang, P. Glotfelter, Y. Diaz-Mercado, M. Mote, A. Ames, E. Feron and M. Egerstedt
Safe, remote-access swarm robotics research on the robotarium arXiv preprint arXiv:1604.00640 |
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[14]
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W. Taha, A.Duracz, Y.Zeng, K.Atkinson, F.Bartha, P.Brauner, J.Duracz, F. Xu, R. Cartwright, M.Konečný, E.Moggi, J.Masood, B.Andreasson, J.Inoue, A.Sant'Anna, R.Philippsen, A. Chapoutot, M.O'Malley, A.Ames, V.Gaspes, L.Hvatum, S.Mehta, H.Eriksson, C.Grante
Acumen: An open-source testbed for cyber-physical systems research in: EAI International Conference on Cyber physical systems, iOt and sensors Networks (CYCLONE'15) |
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[13]
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N.T. Dantam, D.M. Lofaro, A. Hereid, P.Y. Oh, A.D. Ames and M. Stilman,
The ach library: a new framework for real-time communication, IEEE Robotics & Automation Magazine 22 (1),76-85 |
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[12]
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P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D. Ames, J. Grizzle, N. Ozay, H. Peng and P. Tabuada
Correct-By-Construction Adaptive Cruise Control: Two Approaches in: IEEE Transactions on Control Systems Technology, 2016.[12] |
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[11]
|
Li Wang, A. D. Ames and M. Egerstedt
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems in: American Control Conference (ACC), 2016 |
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[10]
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X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames
Robustness of Control Barrier Functions for Safety Critical Control In: Analysis and Design of Hybrid Systems (ADHS), 2015 |
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[9]
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U. Borrmann, Li. Wang, A. D. Ames, and M. Egerstedt
Control Barrier Certificates for Safe Swarm Behavior In: Analysis and Design of Hybrid Systems (ADHS), 2015 |
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[8]
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A. Mehra, W-L. Ma, F. Berg, P. Tabuada, J. W. Grizzle and A. D. Ames
Adaptive Cruise Control: Experimental Validation of Advanced Controllers on Scale-Model Cars To appear in: American Control Conference (ACC), 2015. Experimental results shown on the right. |
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[7]
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A. D. Ames, J. W. Grizzle and P. Tabuada.
Control Barrier Function based Quadratic Programs with Application to Adaptive Cruise Control. In the IEEE Conference on Decision and Control (CDC), 2014. |
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[6]
|
P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P. Tabuada.
Preliminary Results on Correct-by-Construction Control Software Synthesis for Adaptive Cruise Control. In the IEEE Conference on Decision and Control (CDC), 2014. |
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[5]
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W. Taha, P. Brauner, Y. Zeng, R. Cartwright, V. Gaspes, A. D. Ames and A. Chapoutot
A Core Language for Executable Models of Cyber Physical Systems (Preliminary Report) In 32nd International Conference on Distributed Computing Systems Workshops (ICDCS), Macau, China, 2012. |
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[4]
|
W. Taha, P. Brauner, R. Cartwright, V. Gaspes, A. D. Ames and A. Chapoutot
A Core Language for Executable Models of Cyber Physical Systems: work in progress report In SIGBED Review, vol. 8, no. 2, pp. 39-43, 2011. |
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[3]
|
W. Taha, P. Brauner, R. Cartwright, V. Gaspes and A.D. Ames.
A Core Language for Executable Models of Cyber Physical Systems. In ACM/IEEE 2nd International Conference on Cyber-Physical Systems (ICCPS), 2011. |
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[2]
|
Y. Zhu, E. Westbrook, J. Inoue, A. Chapoutot, C. Salama, M. Peralta, T. Martin, W. Taha, M. O'Malley, R. Cartwright, A.D. Ames, and R. Bhattacharya.
Mathematical Equations as Executable Models of Mechanical Systems. In the First International Conference on Cyber-Physical Systems (ICCPS), 2010. |
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[1]
|
A. D. Ames, R. Murphy, D. Woods, J. Valasek and T. Zourntos.
Human-Cyber-Physical Systems for Emergency Response. In IEEE/RSJ International Conference on Intelligent Robot Systems, 2008. |
