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(Georgia Institute of Technology, 1959)
(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 ...
Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control (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 ...
(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 ...
(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 ...