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Aaron D. Ames
Researcher at California Institute of Technology
Publications - 450
Citations - 14969
Aaron D. Ames is an academic researcher from California Institute of Technology. The author has contributed to research in topics: Control theory & Computer science. The author has an hindex of 48, co-authored 395 publications receiving 9551 citations. Previous affiliations of Aaron D. Ames include McGill University & Columbia University.
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Journal ArticleDOI
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
TL;DR: This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers.
Proceedings ArticleDOI
Control barrier function based quadratic programs with application to adaptive cruise control
TL;DR: A control methodology that unifies control barrier functions and control Lyapunov functions through quadratic programs is developed, which allows for the simultaneous achievement of control objectives subject to conditions on the admissible states of the system.
Proceedings ArticleDOI
Control Barrier Functions: Theory and Applications
Aaron D. Ames,Samuel Coogan,Magnus Egerstedt,Gennaro Notomista,Koushil Sreenath,Paulo Tabuada +5 more
TL;DR: In this paper, the authors provide an introduction and overview of control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers.
Journal ArticleDOI
Safety Barrier Certificates for Collisions-Free Multirobot Systems
TL;DR: This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safety constraints.
Journal ArticleDOI
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
TL;DR: The principal result of this paper demonstrates that a variant of control Lyapunov functions that enforce rapid exponential convergence to the zero dynamics surface, Z, can be used to achieve exponential stability of the periodic orbit in the full-order dynamics, thereby significantly extending the class of stabilizing controllers.