| Publication | Date of Publication | Type |
|---|
A quantitative framework for layered multirate control: toward a theory of control architecture
IEEE Control Systems | 2026-03-11 | Paper |
Data-driven safety filters: Hamilton-Jacobi reachability, control barrier functions, and predictive methods for uncertain systems
IEEE Control Systems | 2026-03-11 | Paper |
Risk-averse decision making under uncertainty
IEEE Transactions on Automatic Control | 2024-07-21 | Paper |
Active space control of underactuated robots: from adaptation to robustness to optimality
International Journal of Adaptive Control and Signal Processing | 2024-05-06 | Paper |
Control barrier functionals: Safety‐critical control for time delay systems
International Journal of Robust and Nonlinear Control | 2024-03-12 | Paper |
The Mixed-Observable Constrained Linear Quadratic Regulator Problem: the Exact Solution and Practical Algorithms
IEEE Transactions on Automatic Control | 2023-10-02 | Paper |
Unified Multirate Control: From Low-Level Actuation to High-Level Planning
IEEE Transactions on Automatic Control | 2023-09-26 | Paper |
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Algorithmic Foundations of Robotics XIV | 2021-09-20 | Paper |
| Integral Control Barrier Functions for Dynamically Defined Control Laws | 2020-06-30 | Paper |
Safety-Critical Control Synthesis for network systems with Control Barrier Functions and Assume-Guarantee Contracts
(available as arXiv preprint) | 2019-11-07 | Paper |
| Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach | 2019-04-05 | Paper |
| Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations | 2019-03-28 | Paper |
| Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach | 2019-02-10 | Paper |
| Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers | 2018-10-15 | Paper |
| Input-to-State Safety With Control Barrier Functions | 2018-03-08 | Paper |
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
IEEE Transactions on Automatic Control | 2017-11-10 | Paper |
Parameter to state stability of control Lyapunov functions for hybrid system models of robots
Nonlinear Analysis. Hybrid Systems | 2017-10-04 | Paper |
First steps toward formal controller synthesis for bipedal robots with experimental implementation
Nonlinear Analysis. Hybrid Systems | 2017-10-04 | Paper |
Lyapunov Theory for Zeno Stability
IEEE Transactions on Automatic Control | 2017-09-08 | Paper |
Stability and Completion of Zeno Equilibria in Lagrangian Hybrid Systems
IEEE Transactions on Automatic Control | 2017-08-25 | Paper |
First steps toward formal controller synthesis for bipedal robots
Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control | 2017-05-19 | Paper |
Characterizing knee-bounce in bipedal robotic walking: a Zeno behavior approach
Proceedings of the 14th international conference on Hybrid systems: computation and control | 2017-05-16 | Paper |
Human-Inspired Control of Bipedal Walking Robots
IEEE Transactions on Automatic Control | 2017-05-16 | Paper |
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
IEEE Transactions on Automatic Control | 2017-05-16 | Paper |
Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control | 2017-05-16 | Paper |
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control
Proceedings of the 17th international conference on Hybrid systems: computation and control | 2017-05-16 | Paper |
Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control | 2017-05-10 | Paper |
Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point
Nonlinear Analysis. Hybrid Systems | 2016-03-08 | Paper |
Models, feedback control, and open problems of 3D bipedal robotic walking
Automatica | 2014-10-24 | Paper |
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
Control of Cyber-Physical Systems | 2014-10-16 | Paper |
Persistent homology for automatic determination of human-data based cost of bipedal walking
Nonlinear Analysis. Hybrid Systems | 2013-08-27 | Paper |
Rank deficiency and superstability of hybrid systems
Nonlinear Analysis. Hybrid Systems | 2012-05-11 | Paper |
Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach
Hybrid Systems: Computation and Control | 2009-04-30 | Paper |
Existence of Periodic Orbits with Zeno Behavior in Completed Lagrangian Hybrid Systems
Hybrid Systems: Computation and Control | 2009-04-30 | Paper |
Composition of Dynamical Systems for Estimation of Human Body Dynamics
Hybrid Systems: Computation and Control | 2009-03-11 | Paper |
Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems
Hybrid Systems: Computation and Control | 2008-09-02 | Paper |
Approximate reduction of dynamic systems
Systems & Control Letters | 2008-07-10 | Paper |
| scientific article; zbMATH DE number 5250986 (Why is no real title available?) | 2008-03-19 | Paper |
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
Lagrangian and Hamiltonian Methods for Nonlinear Control 2006 | 2008-01-17 | Paper |
Hybrid Systems: Computation and Control
Lecture Notes in Computer Science | 2007-09-25 | Paper |
Homogeneous Semantics Preserving Deployments of Heterogeneous Networks of Embedded Systems
Lecture Notes in Control and Information Science | 2007-05-08 | Paper |
Hybrid Systems: Computation and Control
Lecture Notes in Computer Science | 2007-05-02 | Paper |
Hybrid Systems: Computation and Control
Lecture Notes in Computer Science | 2007-05-02 | Paper |
| scientific article; zbMATH DE number 5009230 (Why is no real title available?) | 2006-03-01 | Paper |
Hybrid Systems: Computation and Control
Lecture Notes in Computer Science | 2005-11-11 | Paper |
