Theses:

Aaron D. Ames
A Categorical Theory of Hybrid Systems
PhD dissertation, Electrical Engineering and Computer Sciences, University of California, Berkeley 2006

Aaron D. Ames
Hyrid Model Structures
Master Thesis, Mathematics, University of California, Berkeley 2006










Publications:

A more frequently updated list of publications (including recently submitted papers) can be found Here


Jump to publications from:


2016

J. Reher, A. Hereid, S. Kolathaya, C. Hubicki and A. D. Ames
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS
In Workshop on the Algorithmic Foundations of Robotics (WAFR)}, 2016

A. Hereid, S. Kolathaya and A. D. Ames
Online Hybrid Zero Dynamics Optimal Gait Generation Using Legendre Pseudospectral Optimization
In IEEE Conference on Decision and Control (CDC), 2016

H. Zhao, A. Hereid, E. Ambrose and A. D. Ames
3D Multi-Contact Gait Design for Prostheses: Hybrid System Models, Virtual Constraints and Two-Step Direct Collocation
In IEEE Conference on Decision and Control (CDC), 2016

Q. Nguyen, A. Hereid, J. W. Grizzle, A. D. Ames and K. Sreenath
3D Dynamic Walking on Stepping Stones with Control Barrier Functions
In IEEE Conference on Decision and Control (CDC), 2016

L. Wang, M. Egerstedt and A. D. Ames
Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile
Robots
In IEEE Conference on Decision and Control (CDC), 2016

M. Powell, W. Ma, E. Ambrose and A. D. Ames
Mechanics-Based Design of Underactuated Robotic Walking Gaits: Initial Experimental Realization
In IEEE-RAS International Conmference on Humanoid Robotis (Humanoids), 2016

W. Ma, A. Hereid, C. Hubicki and A. D. Ames
Efficient HZD Gait Generation for Three-Dimensional Underactuated Humanoid Running
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

C. Hubicki, J. Aguilar, D. Goldman and A. D. Ames
Tractable Terrain-aware Motion Planning on Granular Media: An Impulsive Jumping Study
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

M. Grey, C. Garrett, K. Liu, A. D. Ames and A. L. Thomaz
Humanoid Manipulation Planning using Backward-Forward Search
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

M. Powell and A. D. Ames
Mechanics-Based Control of Underactuated 3D Robotic Walking: Dynamic Gait Generation Under
Torque Constraints
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

M. Konečný, W. Taha, F. A. Bartha, J. Duracz, A. Duracz and A. D. Ames
Enclosing the behavior of a hybrid automaton up to and beyond a Zeno point
Nonlinear Analysis: Hybrid Systems, Vol. 20, pp. 1-20, May 2016

A. Hereid, E. A. Cousineau, C. M. Hubicki and A. D. Ames
3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics
In: International Conference on Robotics and Automation (ICRA), 2016.
Best Paper Award Finalist of ICRA 2016

J. Reher, E. A. Cousineau, A. Hereid, C. M. Hubicki, and A. D. Ames
Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS
In: International Conference on Robotics and Automation (ICRA), 2016.

C. M. Hubicki, A. Hereid, M. X. Grey, A. L. Thomaz and A. D. Ames
Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion
In: International Conference on Robotics and Automation (ICRA), 2016.

H. Zhao, J. Horn, J. Reher, V. Paredes, and A. D. Ames
First Steps Toward Translating Robotic Walking to Prostheses: A Nonlinear Optimization based Control Approach
To appear in: Autonomous Robots: Special Issue on Assistive and Rehabilitation Robotics, 2016

P. Nilsson, O. Hussien, A. Balkan, Y. Chen, A. D. Ames, J. Grizzle, N. Ozay, H. Peng and P. Tabuada
Correct-By-Construction Adaptive Cruise Control: Two Approaches
To appear in: IEEE Transactions on Control Systems Technology, 2016.

H. Zhao, J. Horn, J. Reher, V. Paredes, and A. D. Ames
Multi-Contact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control.
To appear in: IEEE Transactions on Automation Science and Engineering, 2016

S. Kolathaya, A. Hereid, and A. D. Ames
Time Dependent Control Lyapunov Functions
and Hybrid Zero Dynamics for Stable Robotic Locomotion
In: American Control Conference (ACC), 2016

Li Wang, A. D. Ames, M. Egerstedt
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
In: American Control Conference (ACC), 2016

K. Chao, M. Powell, A. D. Ames, and P. Hur
Unification of Locomotion Pattern Generation and Control Lyapunov Function-Based Quadratic Programs
In: American Control Conference (ACC), 2016

M. Powell and A. D. Ames
Towards Real-Time Parameter Optimization for Feasible Nonlinear Control with Applications to
Robot Locomotion
In: American Control Conference (ACC), 2016



2015


H. Zhao, A. Hereid, W-L. Ma and A. D. Ames
Multi-Contact Bipedal Robotic Locomotion
To appear in Robotica, 2015

B. J. Morris, M. J. Powell, A. D. Ames
Continuity and Smoothness Properties of
Nonlinear Optimization-Based Feedback Controllers
In: Conference on Decision and Control (CDC), 2015

H. Zhao, J. Horn, J. Reher, V. Paredes and A. D. Ames
A hybrid systems and optimization-based control approach to realizing multi-contact locomotion on transfemoral prostheses
In: Conference on Decision and Control (CDC), 2015

X. Xu, P. Tabuada, J. W. Grizzle, and A. D. Ames
Robustness of Control Barrier Functions for Safety Critical Control
In: Analysis and Design of Hybrid Systems (ADHS), 2015

U. Borrmann, Li. Wang, A. D. Ames, and M. Egerstedt
Control Barrier Certificates for Safe Swarm Behavior
In: Analysis and Design of Hybrid Systems (ADHS), 2015

S. Kolathaya, and A. D. Ames
Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits
In: Analysis and Design of Hybrid Systems (ADHS), 2015

H. Zhao, J. Reher, J. Horn, V. Paredes, and A. D. Ames
Realization of stair ascent and motion transition on prostheses utilizing optimization-based control and intent recognition
In: International Conference on Rehabilitation Robot (ICORR), 2015

K. Galloway, K. Sreenath, A. D. Ames, and J. W. Grizzle
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs
In: IEEE Access, Vol. 3, pp. 323-332, 2015

A. Mehra, W-L. Ma, F. Berg, P. Tabuada, J. W. Grizzle and A. D. Ames
Adaptive Cruise Control: Experimental Validation of Advanced Controllers on Scale-Model Cars
In: American Control Conference (ACC), 2015.

R. Sinnet and A. D. Ames
Energy Shaping of Hybrid Systems via Control Lyapunov Functions
In: American Control Conference (ACC), 2015.

S-C. Hsu, X. Xu and A. D. Ames
Control Barrier Function based Quadratic Programs with Application to Bipedal Robotic Walking
In: American Control Conference (ACC), 2015.

A. Hereid, C. M. Hubicki, E. A. Cousineau, J. W. Hurst and A. D. Ames
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
In: IEEE International Conference on Robotics and Automation (ICRA), 2015.

M. J. Powell, E. Cousineau and A. D. Ames
Model Predictive Control of Underactuated Bipedal Robotic Walking
In: IEEE International Conference on Robotics and Automation (ICRA), 2015.

E. Cousineau and A. D. Ames
Realizing Underactuated Bipedal Walking with Torque Controllers via the Ideal Model Resolved Motion Method
In: IEEE International Conference on Robotics and Automation (ICRA), 2015.

A. D. Ames, P. Tabuada, B. Schuermann, W. Ma, S. Kolathaya, M. Rungger and J. W. Grizzle
First Steps toward Formal Controller Synthesis for Bipedal Robots.
In: Hybrid Systems: Computation and Control (HSCC), 2015.

H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames
Realization of Nonlinear Real-Time Optimization Based Controllers on Self-Contained Transfemoral Prosthesis.
In: International Conference on Cyber-Physical Systems (ICCPS), 2015.

H. Zhao, J. Reher, J. Horn, V. Paredes and A. D. Ames
Demonstration of Locomotion with the Powered Prosthesis AMPRO utilizing Online Optimization-Based Control
Appeared as a demonstration at Hybrid Systems: Computation and Control (HSCC), 2015.

N. Dantam, D.M. Lofaro, A. Hereid, P. Oh, A. D. Ames, M. Stillman
The Ach Library: A New Framework for Real-Time Communication.
In: IEEE RAS Robotics and Automation Magazine (RAM), vol. 22, no. 1, pp. 75-85, 2015.

N. A. Radford, P. Strawser, K. Hambuchen, J. S. Mehling, W. K. Berdyen, S. Donnan, J. Holley, J. Sanchez, V. Nguyen, L. Bridgwater, R. Berka, R. Ambrose, C. McQuin, J. D. Yamokoski, S. Hart, R. Guo, A. Parsons, B. Wightman, P. Dinh, B. Ames, C. Blakely, C. Edmonson, B. Sommers, R. Rea, C. Tobler, H. Bibby, B. Howard, L. Nui, A. Lee, M. Conover, L. Truong, D. Chesney, R. Platt Jr., G. Johnson, C. Fok, N. Paine, L. Sentis, E. Cousineau, R. Sinnet, J. Lack, M. Powell, B. Morris, A. D. Ames and J. Akinyode
Valkyrie: NASA's First Bipedal Humanoid Robot.
In: Journal of Field Robotics, vol. 32, no. 3, pp. 397-419, 2015.



2014


J.W. Grizzle, C. Chevallereau, R. Sinnet, A. D. Ames
Models, feedback control, and open problems of 3D bipedal robotic walking.
In: Automatica, vol. 50, no. 8, pp. 1955-1988, 2014.

A. D. Ames, J.W. Grizzle and P. Tabuada
Control Barrier Function based Quadratic Programs with Application to Adaptive Cruise Control
In the IEEE Conference on Decision and Control (CDC), 2014.

P. Nilsson, O. Hussien, Y. Chen, A. Balkan, M. Rungger, A. D. Ames, J. W. Grizzle, N. Ozay, H. Peng, and P.
Tabuada
Preliminary Results on Correct-by-Construction Control Software Synthesis for Adaptive Cruise Control
In the IEEE Conference on Decision and Control (CDC), 2014.

A. Hereid, M. J. Powell and A. D. Ames
Embedding of SLIP Dynamics on Underactuated Bipedal Robots through Multi-Objective Quadratic
Program based Control
In the IEEE Conference on Decision and Control (CDC), 2014.

M. J. Powell and A. D. Ames
Hierarchical Control of Series Elastic Actuators through Control Lyapunov Functions
In the IEEE Conference on Decision and Control (CDC), 2014.

A. D. Ames and J. Holley
Quadratic Program based Nonlinear Embedded Control of Series Elastic Actuators
In the IEEE Conference on Decision and Control (CDC), 2014.
S. Kolathaya, W. Ma and A. D. Ames
Composing Dynamical Systems to Realize Dynamic Robotic Dancing
In the Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014.

A. D. Ames, K. Galloway, J. W. Grizzle, and K. Sreenath
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics 
IEEE Transactions on Automatic Control, vol. 59, no. 4, pp. 876-891, 2014

A. D. Ames
Human-Inspired Control of Bipedal Walking Robots.
In IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1115-1130, 2014
S. Kolathaya, and A. D. Ames
Exponential Convergence of a Unified CLF Controller for Robotic Manipulators under Parameter Uncertainty
In the American Control Conference (ACC), 2014.

H. Zhao, and A. D. Ames
Quadratic Program based Control of Fully-Actuated Transfemoral Prosthesis for Flat-Ground and Up-
Slope Locomotion
In the American Control Conference (ACC), 2014.

W. Ma, H. Zhao, S. Kolathaya, and A. D. Ames
Human-Inspired Walking via Unified PD and Impedance Control
In the International Conference on Robotics and Automation (ICRA), 2014.

J. Lack, M. J. Powell and A. D. Ames
Planar Mulit-Contact Bipedal Walking Using Hybrid Zero Dynamics
In the International Conference on Robotics and Automation (ICRA), 2014.

H. Zhao, S. Kolathaya and A. D. Ames
Quadratic Programming and Impedance Control for Transfemoral Prosthesis
In the International Conference on Robotics and Automation (ICRA), 2014.

A. Hereid, S. Kolathaya, M. S. Jones, J. Van Why, J.W. Hurst and A. D. Ames
Dynamic Multi-Domain Bipedal Walking with ATRIAS through SLIP based Human-Inspired Control
In Hybrid Systems: Computation and Control, 2014.
DENSO Best Student Paper Award of HSCC 2014.

H. Zhao, W. Ma,M. Zeagler and A. D. Ames
Human-Inspired Multi-Contact Locomotion with AMBER2
In International Conference on Cyber-Physical Systems, 2014.
Best Paper Award Finalist of ICCPS 2014.

H. Zhao, M. J. Powell and A. D. Ames
Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain.
To appear in: Optimal Control, Applications and Methods, 2014.

R. Sinnet, S. Jiang, and A. D. Ames
A Human-Inspired Framework for Bipedal Robotic Walking Design.
In Int. J. of Biomechatronics and Biomedical Robotics, vol. 3, no. 1, pp. 20-41, 2014.



2013

A. D. Ames and M. J. Powell
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs.
In Lecture Notes in Control and Information Sciences, Volume 449, pages 219-240, Springer, 2013.

N. Aghasadeghi, H. Zhao*, L. J. Hargrove, A. D. Ames, E. J. Perreault, and T. Bretl
Learning Impedance Controller Parameters for Lower-Limb Prostheses
In International Conference on Intelligent Robots and Systems (IROS), 2013.

B.Morris, M. Powell, and A. D. Ames
Sufficient Conditions for the Lipschitz Continuity of QP-based Multi-Objective Control of Humanoid
Robots
In Conference on Decision and Control (CDC), 2013.

A. R. Teel, R. Goebel, B.Morris, A D. Ames, and J.W. Grizzle
A stabilization result with application to bipedal locomotion
In Conference on Decision and Control (CDC), 2013.

S. Kolathaya, R. Sinnet, W. Ma and A. D. Ames
Human-Inspired Walking in AMBER 1.0 and AMBER 2.0
In Dynamic Walking, 2013.

M. Konecný, W. Taha, A. Duracz, J. Duracz and A. D. Ames
Enclosing the Behavior of Hybrid Systems up to and Beyond a Zeno Point
In IEEE International Conference on Cyber-Physical Systems, Networks, and Applications (CPSNA), 2013
Best Paper Award of CPSNA 2013

N. Dantam, A. Hereid, A. D. Ames, M. Stilman
Correct Software Synthesis for Stable Speed-Controlled Walking
In Robotics Science and Systems (RSS), 2013.

R. Vasudevan, A. D. Ames and R. Bajcsy
Persistent Homology for Automatic Determination of Human-Data Based Cost of Bipedal Walking
In Nonlinear Analysis: Hybrid Systems, vol. 7, no. 1, pp. 101-115, 2013.

M. Powell, A. Hereid and A. D. Ames
Speed Regulation in 3D Robotic Walking through Motion Transitions between Human-Inspired Partial Hybrid Zero Dynamics.
In the IEEE  International Conference on Robotics and Automation, 2013.

A. D. Ames
Human-Inspired Control of Bipedal Robotics via Control Lyapunov Functions and Quadratic Programs.
In Hybrid Systems: Computation and Control, 2013
[Extended abstract accompanying keynote presentation for HSCC 2013]
A. Lamperski and A. D. Ames
Lyapunov Theory for Zeno Stability
In IEEE Transactions on Automatic Control, vol. 58, no. 1, pp. 101-115, 2013



2012

S. Nadubettu Yadukumar and A. D. Ames
Achieving Bipedal Locomotion on Rough Thlkherrain through Human-Inspired Control
In the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2012

A. D. Ames, K. Galloway and J. W. Grizzle. 
Control Lyapunov Functions and Hybrid Zero Dynamics. 
In the IEEE Conference on Decision and Control (CDC), 2012. 

S. Nadubettu Yadukumar, M. Pasupuleti and A. D. Ames.
Human-Inspired Underactuated Bipedal Robotic Walking with AMBER on Flat-ground, Up-slope and Uneven Terrain.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

H. Zhao, S. Nadubettu Yadukumar, and A. D. Ames.
Bipedal Robotic Running with Partial Hybrid Zero Dynamics and Human-Inspired Optimization.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.

R. W. Sinnet and A. D. Ames.
Bio-Inspired Feedback Control of Three-Dimensional Humanlike Bipedal Robots. 
Journal of Robotics and Mechatronics, Special Issue on Focused areas and future trends in bio-inspired robots, Vol. 24, No. 4, Aug. 2012.

S. Nadubettu Yadukumar, M. Pasupuleti and A. D. Ames.
From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots.
In the Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2012.  In Lecture Notes in Control and Information Sciences, Vol. 449, pages 219-240, Springer, 2013.

R. W. Sinnet and A. D. Ames
Extending Two-Dimensional Human-Inspired Bipedal Robotic Walking to Three Dimensions through Geometric Reduction
In the American Control Conference (ACC), 2012.

S. Jiang, S. Patrick, H. Zhao, and A. D. Ames
Outputs of Human Walking for Bipedal Robotic Controller Design
In the American Control Conference (ACC), 2012.

S. Nadubettu Yadukumar, B. Kothapalli, and A. D. Ames
Zeno Behavior in Electromechanical Hybrid Systems: From Theory to Experimental Validation
To appear in the American Control Conference (ACC), 2012.

M. J. Powell, H. Zhao, and A. D. Ames
Motion Primitives for Human-Inspired Bipedal Robotic Locomotion: Walking and Stair Climbing
To appear in the IEEE International Conference on Robotics and Automation (ICRA), 2012.

A. D. Ames
First Steps Toward Underactuated Human-Inspired Bipedal Robotic Walking
In IEEE International Conference on Robotics and Automation (ICRA), 2012.

A. D. Ames, E. A. Cousineau, M. J. Powell
Dynamically Stable Robotic Walking with NAO via Human-Inspired Hybrid Zero Dynamics
In Hybrid Systems, Computation and Control (HSCC) 2012.

E. D. B. Wendel and A. D. Ames
Rank Deficiency and Superstability of Hybrid Systems
Nonlinear Analysis: Hybrid Systems, Vol. 6(2), pages 787-805, 2012.   



2011

A. D. Ames
First Steps Toward Automatically Generating Bipedal Robotic Walking from Human Data
In 8th International Workshop on Robotic Motion and Control, RoMoCo'11. Appeared as a book chapter in Robotic Motion and Control, 2011,  K. Kozlowski eds, Lecture Notes in Control and Information Sciences, Volume 422, pages 89-116, 2012. 

R. W. Sinnet, M. J. Powell, Shu Jiang and A. D. Ames
Compass Gait Revisited: A Human Data Perspective with Extensions to Three Dimensions
In: 50th IEEE Conference on Decision and Control and European Control Conferenc, 2011

R. W. Sinnet, Huihua Zhao and A. D. Ames
Simulating Prosthetic Devices with Human-Inspired Hybrid Control
In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS11), San Francisco, 2011.

E. D. B. Wendel and A. D. Ames
Rank Deficiency and Superstability of Hybrid Systems with Application to Bipedal Robots.
In: 50th IEEE Conference on Decision and Control and European Control Conference, 2011.

R. Sinnet, M. Powell, R. Shah and A. D. Ames
A Human-Inspired Hybrid Control Approach to Bipedal Robotic Walking
In: 18th IFAC World Congress, Milano, Italy, 2011

R. Vasudevan, A. D. Ames and R. Bajcsy
Using Persistent Homology to Determine a Human-Data Based Cost for Bipedal Walking
In: 18th IFAC World Congress, Milano, Italy, 2011

W. Taha, P. Brauner, R. Cartwright, V. Gaspes and A.D. Ames.
A Core Language for Executable Models of Cyber Physical Systems
In: ACM/IEEE 2nd International Conference on Cyber-Physical Systems (ICCPS), 2011

A. D. Ames
Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach
In: Hybrid Systems: Computation and Control (HSCC), 2011

A. D. Ames, R. Vasudevan and R. Bajcsy
Human-Data Based Cost of Bipedal Robotic Walking
In: Hybrid Systems: Computation and Control (HSCC), 2011



2010

J. W. Grizzle, C. Chevallereau, A. D. Ames and R. Sinnet
3D Bipedal Robotic Walking: Models, Feedback Control, and Open Problems
In: 8th IRAC Symposium on Nonlinear Control Systems (NOLCOS), Bologna Italy, 2010

E. Wendel and A. D. Ames
Rank Properties of Poincare Maps for Hybrid Systems with Applications to Bipedal Walking
In Hybrid Systems: Computation and Control, 2010

Y. Zhu, E. Westbrook, J. Inoue, A. Chapoutot, C. Salama, M. Peralta, T. Martin, W. Taha, M. O'Malley, R. Cartwright, A.D. Ames, and R. Bhattacharya
Mathematical Equations as Executable Models of Mechanical Systems
In the First International Conference on Cyber-Physical Systems (ICCPS), 2010



2009

A. D. Ames, R. Sinnet and E. Wendel
Three-dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach
In: P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 Lecture Notes in Computer Science, pages 16-30.  Springer-Verlag, 2009.

Y. Or and A. D. Ames
Existence of Periodic Orbits in Completed Lagrangian Hybrid Systems with Non-Plastic Impacts
In: P. Tabuada and R. Majumdar, editors, Hybrid Systems: Computation and Control, volume 5469 Lecture Notes in Computer Science, pages 291-305.  Springer-Verlag, 2009.



R. Sinnet and A. D. Ames
2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach
In: 48th IEEE Conference on Decision and Control (CDC), 2009

R. Sinnet and A. D. Ames
3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach
In: 48th IEEE Conference on Decision and Control, 2009

Y. Or and A. D. Ames
Formal and Practical Completion of Lagrangian Hybrid Systems
In: American Control Conference (ACC), 2009



2008

A. D. Ames, R. Murphy, D. Woods, J. Valasek and T. Zourntos
Human-Cyber-Physical Systems for Emergency Response
In: IEEE/RSJ International Conference on Intelligent Robot Systems, 2008

Y. Or and A. D. Ames
Stability of Zeno Equilibria in Lagrangian Hybrid Systems
In: 47th IEEE Conference on Decision
and Control, 2008

A. Lamperski and A. D. Ames
On the Existence of Zeno Behavior in Hybrid Systems with Non-Isolated Zeno Equilibria
In: 47th IEEE Conference on Decision
and Control, 2008

Aaron D. Ames and John C. Doyle
Complexity and Fragility in Stability
In: American Control Conference (ACC), 2008
Andy Lamperski and Aaron D. Ames
Sufficient Conditions for Zeno Behavior in Lagrangian Hybrid Systems
 In: Hybrid Systmes: Computation and Control (HSCC), 2008

Paulo Tabuada, Aaron D. Ames, Agung Julius and George J. Pappas
Approximate Reduction of Dynamical Systems
In: Systems and Control Letters, 57(7), 538-545, July 2008.



2007

Aaron D. Ames, Robert D. Gregg and Mark W. Spong
A Geometric Approach to Three-Dimensional Hipped Bipedal Robotic Walking
In: IEEE Conference on Decision and Control (CDC), 2007

Aaron D. Ames, Alessandro Abate and Shankar Sastry
Sufficient Conditions for the Existence of Zeno Behavior in Nonlinear Hybrid Systems via Constant Approximations
In: IEEE Conference on Decision and Control (CDC), 2007

David Pekarek, Aaron D. Ames and Jerrold E. Marsden
Discrete Mechanics and optimal Control Applied to the Compass Gait Biped
In: IEEE Conference on Decision and Control (CDC), 2007

Andrew Lamperski and Aaron D. Ames
Lyapunov-Like Conditions for the Existence of Zeno Behavior in Hybrid and Lagrangian Hybrid Systems
In: IEEE Conference on Decision and Control (CDC), 2007

Aaron D. Ames
Homotopy Meaningful Hybrid Model Structures
In M. Burger and M. Farber and R. Ghrist and D. Koditschek, editors, Topology and Robotics,
Contemporary Mathematics, pages 121-144. American Mathematical Society, 2007

Aaron D. Ames and Robert D. Gregg
Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions
In: the American Control Conference (ACC), 2007

Sumitra Ganesh, Aaron D. Ames and Ruzena Bajcsy
Composition of Dynamical Systems for Estimation of Human Body Dynamics
In: Hybrid Systems: Computation and Control 2007



2006

Aaron D. Ames and Shankar Sastry.
Hybrid Geometric Reduction of Hybrid Systems
In: 45th IEEE Conference on Decision
and Control, San Diego, CA, 2006. (Awarded best paper of session.)

P. Tabuada, A. D. Ames, A. Julius and G. Pappas.
Approximate Reduction of Dynamical Systems
In: 45th IEEE Conference on Decision
and Control, San Diego, CA, 2006.

Aaron D. Ames, Robert D. Gregg, Eric D.B. Wendel and Shankar Sastry.
On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
In: 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNL'06), Nagoya Japan.

Aaron D. Ames and Shankar Sastry.
Hybrid Routhian Reduction of Lagrangian Hybrid Systems
In: American Control Conference (ACC), Minneapolis, MN, 2006.

Aaron D. Ames and Shankar Sastry.
Hybrid Cotangent Bundle Reduction of Simple Hybrid Mechanical Systems with Symmetry
In: American Control Conference (ACC), Minneapolis, MN, 2006.

Aaron D. Ames, Haiyang Zheng, Robert Gregg and Shankar Sastry.
Is there Life after Zeno?  Taking Executions past the Breaking (Zeno) Point.
In: American Control Conference (ACC), Minneapolis, MN, 2006.

Alessandro Abate,  Aaron D. Ames and Shankar Sastry.
Error-Bounds Based Stochastic Approximations and Simulations of Hybrid Dynamical Systems
In: American Control Conference (ACC), Minneapolis, MN, 2006.

Alessandro Abate,  Aaron D. Ames and Shankar Sastry.
A-Priori Detection of Zeno Behavior in Communication Networks Modeled as Hybrid Systems
In: American Control Conference (ACC), Minneapolis, MN, 2006.

Aaron D. Ames, Paulo Tabuada and Shankar Sastry.
On the Stability of Zeno Equilibria
In: Hybrid Systems: Computation and Control (HSCC), Santa Barbara, CA, 2006.

Haiyang Zheng, Edward A. Lee and Aaron D. Ames
Beyond Zeno: Get on with it!
In: Hybrid Systems: Computation and Control (HSCC), Santa Barbara, CA, 2006.



2005

Aaron D. Ames, Alberto Sangiovanni-Vincentelli and Shankar Sastry.
Homogenous Semantic Preserving Deployments of Heterogenous Networks of Embedded Systems.
In: Workshop on Networked Embedded Sensing and Control (to appear), Notre Dame, IN, Oct., 17--18, 2005.

Aaron D. Ames, Alessandro Abate and Shankar Sastry.
Sufficient Conditions for the Existence of Zeno Behavior.
In: 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 (CDC-ECC'05), Seville, Spain, Dec., 12--15, 2005.

Jonathan Sprinkle, Aaron D. Ames and Shankar Sastry. 
On the Partitioning of Syntax and Semantics For Hybrid Systems Tools.
In: 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 (CDC-ECC'05), Seville, Spain, Dec., 12--15, 2005.

Jonathan Sprinkle, Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell and Shankar Sastry.
Online Safety Calculations for Glide-Slope Recapture.
In: Inovations in Systems and Software Engineering, Vol. 1, no. 2, Jul., 2005.

Aaron D. Ames and Shankar Sastry.
Characterization of Zeno Behavior in Hybrid Systems using Homological Methods.
In: the 24th American Control Conference 2005 (ACC’05), Portland, OR, 2005.

Alessandro Abate, Aaron D. Ames and Shankar Sastry.
Stochastic Approximations of Hybrid Systems.
In: the 24th American Control Conference 2005 (ACC’05), Portland, OR, 2005.

Aaron D. Ames and Shankar Sastry.
A Homology Theory for Hybrid Systems:  Hybrid Homology.
In: Hybrid Systems: Computation and Control, 8th International Workshop, Proc., Zurich, Switzerland, March 9-11, M. Morari and L. Thiele, eds., vol. 3414 of Lecture Notes in Computer Science, Springer-Verlag, pp. 86-102, 2005.



2004

Aaron D. Ames and Shankar Sastry.
Blowing Up Affine Hybrid Systems. 
In: 43rd IEEE Conference on Decision and Control 2004 (CDC'04), Atlantis, Paradise Island, Bahamas, Dec. 2004, pp. 473-478.

Aaron D. Ames and Shankar Sastry.
Affine Hybrid Systems. 
In: Hybrid Systems: Computation and Control, 7th International Workshop, Proc., Philadelphia, PA, USA, March 25-27, R. Alur and G. J. Pappas, eds., vol. 2993 of Lecture Notes in Computer Science, Springer-Verlag, pp. 16-31, 2004.



2002

Aaron D. Ames, J. A. Jalkio and C. Shakiban. 
Three-Dimensional Object Recognition Using Invariant Euclidean Signature Curves. 
In: the Proceeding of the International Symposium on Analysis, Combinatorics and Computing, held August 5-8, 2000.  Also available in Analysis, Combinatorics and Computing, pg. 13-23, Nova Scientific Publishing, Inc. Commack, NY, 2002.



Technical Reports and Unpublished Notes

Aaron D. Ames and Paulo Tabuada
H-Categories and Graphs.
Unpublished Note.