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  • Safety Barrier Certificates for Heterogeneous Multi-Robot Systems 

    Wang, Li; Ames, Aaron; Egerstedt, Magnus (Georgia Institute of Technology, 2016-07)
    paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of ...
  • Correct-By-Construction Adaptive Cruise Control: Two Approaches 

    Nilsson, Petter; Hussien, Omar; Balkan, Ayca; Chen, Yuxiao; Ames, Aaron A. D.; Grizzle, Jessy; Ozay, Necmiye; Peng, Huei; Tabuada, Paulo (Georgia Institute of Technology, 2016-07)
    Motivated by the challenge of developing control software provably meeting specifications for real world problems, this paper applies formal methods to adaptive cruise control (ACC). Starting from a Linear Temporal Logic ...
  • Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control 

    Zhao, Huihua; Horn, Jonathan; Reher, Jacob; Paredes, Victor; Ames, Aaron D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2016-03)
    Lower-limb prostheses provide a prime example of cyber-physical systems (CPSs) requiring the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this ...
  • Multi-Contact Bipedal Robotic Locomotion 

    Zhao, Huihua; Herei, Ayonga; Ma, Wen-loong; Ames, Aaron D. (Georgia Institute of Technology, 2015)
    This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by ...
  • Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to Robot Locomotion 

    Powell, Matthew J.; Ames, Aaron D. (Georgia Institute of Technology, 2016-07)
    This paper considers the application of classical control methods, designed for unconstrained nonlinear systems, to systems with nontrivial input constraints. As shown throughout the literature, unconstrained classical ...

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