Aaron D. Ames

Research interests

Publications

• Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance

  2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2021 · 10.1109/iros51168.2021.9636670

• Biofuel-powered soft electronic skin with multiplexed and wireless sensing for human-machine interfaces

  Science Robotics · 2020 · 10.1126/scirobotics.aaz7946

• Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach

  IEEE Control Systems Letters · 2020 · 10.1109/lcsys.2020.3000748

• Adaptive Safety with Control Barrier Functions

  · 2020 · 10.23919/acc45564.2020.9147463

• Control Barrier Functions: Theory and Applications

  · 2019 · 10.23919/ecc.2019.8796030

• Input-to-State Safety With Control Barrier Functions

  IEEE Control Systems Letters · 2018 · 10.1109/lcsys.2018.2853698

• The Robotarium: A remotely accessible swarm robotics research testbed

  · 2017 · 10.1109/icra.2017.7989200

• Safety Barrier Certificates for Collisions-Free Multirobot Systems

  IEEE Transactions on Robotics · 2017 · https://doi.org/10.1109/tro.2017.2659727

• Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control

  IEEE Transactions on Automation Science and Engineering · 2017 · 10.1109/tase.2017.2760863

• 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

  · 2016 · 10.1109/icra.2016.7487279

• Control Barrier Function Based Quadratic Programs for Safety Critical Systems

  IEEE Transactions on Automatic Control · 2016 · 10.1109/tac.2016.2638961

• Robustness of Control Barrier Functions for Safety Critical Control

  arXiv (Cornell University) · 2016 · 10.48550/arxiv.1612.01554

• Correct-by-Construction Adaptive Cruise Control: Two Approaches

  IEEE Transactions on Control Systems Technology · 2015 · 10.1109/tcst.2015.2501351

• Robustness of Control Barrier Functions for Safety Critical Control**This work is partially supported by the National Science Foundation Grants 1239055, 1239037 and 1239085.

  IFAC-PapersOnLine · 2015 · 10.1016/j.ifacol.2015.11.152

• Valkyrie: NASA's First Bipedal Humanoid Robot

  Journal of Field Robotics · 2015 · 10.1002/rob.21560

• Control Barrier Certificates for Safe Swarm Behavior

  IFAC-PapersOnLine · 2015 · 10.1016/j.ifacol.2015.11.154

• Control barrier function based quadratic programs with application to bipedal robotic walking

  · 2015 · 10.1109/acc.2015.7172044

• Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs

  IEEE Access · 2015 · 10.1109/access.2015.2419630

• Models, feedback control, and open problems of 3D bipedal robotic walking

  Automatica · 2014 · 10.1016/j.automatica.2014.04.021

• Control barrier function based quadratic programs with application to adaptive cruise control

  Journal · 2014 · https://doi.org/10.1109/cdc.2014.7040372

• Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics

  IEEE Transactions on Automatic Control · 2014 · 10.1109/tac.2014.2299335

• Human-Inspired Control of Bipedal Walking Robots

  IEEE Transactions on Automatic Control · 2014 · 10.1109/tac.2014.2299342

Current projects

No projects listed.