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Articles by Aaron Ames
Electrical Engineering and Systems Science > Systems and Control
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Electrical Engineering and Systems Science > Systems and Control
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Evolution of humanoid locomotion control
Abstract REFERENCES AND NOTES Information & Authors Metrics & Citations Check Access References Figures Tables Media Share Abstract Humanoid robots stand at the forefront of robotics, aiming to capture the agility, robustness, and expressivity of human movement in an anthropomorphic form.
Electrical Engineering and Systems Science > Systems and Control
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
From Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
[2508.11795] Matrix Control Barrier Functions
arXiv:2508.11795 (eess) View PDF HTML (experimental) Comments: Subjects: Systems and Control (eess.SY); Optimization and Control (math.OC) Cite as: arXiv:2508.11795 [eess.SY] (or arXiv:2508.11795v1 [eess.SY] for this version) https://doi.org/10.48550/arXiv.2508.11795 Submission history From: Pio Ong [ view email] [v1] Fri, 15 Aug 2025 20:33:36 UTC (3,062 KB) Bibliographic Tools Bibliographic Explorer Toggle Bibliographic Explorer () Connected Papers Toggle Connected Papers (What is Connected...
CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
[2412.04658] Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions
[Submitted on 5 Dec 2024] Title:Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions View a PDF of the paper titled Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions, by William D. Compton and Max H. Cohen and Aaron D. Ames View PDF HTML (experimental) Abstract:Safety filters leveraging control barrier functions (CBFs) are highly effective for enforcing safe behavior on complex systems.
Darwin, Bureaucratese, and the Decline of Poetry
I want to begin by asking a simple question: Why has poetry descended from being a great delight to a miserable bore for the majority of the populace? This was not always the case. Poet Magaret Randall helps us to see: Poems have been smuggled out of prisons, shared on battlefields, passed from hand to hand and generation to generation, scratched on walls, written in diaries and recipe books, distributed on street corners, and carried cross-county by hobos riding the freight trains of the 1930s.
Towards a Theory of Control Architecture: A quantitative framework for layered multi-rate control
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach
The overarching goal of this work is to develop a computationally tractable and distributed trajectory planner at the intersection of physics-based and data-driven techniques for teams of quadrupeds that are rigidly holonomically constrained to one another through ball joints. The key objectives and contributions are enumerated as follows (see Fig.
Trusting the Experts Is a Sign of Spiritual Decline
Serious question: Are those things which the expert class mandates considered to be right because they mandate it, or do the experts mandate it because it is right? (Adapted from Plato, Euthyphro) I am not even asking why the experts themselves make mandates or prescriptions, despite their hints of a god-complex. I am asking why the masses wholeheartedly embrace such mandates.
[2304.08684] Intermittent Safety Filters for Event-Triggered Safety Maneuvers with Application to Satellite Orbit Transfers
In balancing safety with the nominal control objectives, e.g., stabilization, it is desirable to reduce the time period when safety filters are in effect. Inspired by traditional spacecraft maneuvers, and with the ultimate goal of reducing the duration when safety is of concern, this paper proposes an event-triggered control framework with switching state-based triggers.
[2303.10231] An Input-to-State Stability Perspective on Robust Locomotion
[Submitted on 17 Mar 2023 ( v1 ), last revised 9 Jun 2023 (this version, v2)] Title:An Input-to-State Stability Perspective on Robust Locomotion Download a PDF of the paper titled An Input-to-State Stability Perspective on Robust Locomotion, by Maegan Tucker and Aaron D. Ames Download PDF Abstract: Uneven terrain necessarily transforms periodic walking into a non-periodic motion.
The Church Unmasked by Aaron Ames
Aaron Ames on the Church's Failure in the Pandemic as Symptomatic When once we are finally unmasked, what will be revealed about us? The year 2020 was almost certainly the first time in history that the global Christian Church collectively shut its doors for any significant length of time. While the Covid pandemic has sparked an abundance of discussion about what it means to love one's neighbor, there has been little discussion about what it means to love God.
What Would Alyosha Do? An Argument for Religious Exemption
A relevant question regarding the COVID-19 vaccines is whether or not it is reasonable to apply for a religious exemption simply because the vaccine may have, at some point in its development, utilized parts of an aborted baby. In order to arrive at my answer, please follow me through a brief theological discussion to its practical application.
[2106.10310] Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
arXiv:2106.10310 (cs) [Submitted on 18 Jun 2021 (v1), last revised 14 Sep 2023 (this version, v2)] Download PDF Subjects: Robotics (cs.RO) Cite as: arXiv:2106.10310 [cs.RO] (or arXiv:2106.10310v2 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2106.10310 Submission history From: Wyatt Ubellacker [ view email] [v1] Fri, 18 Jun 2021 18:42:18 UTC (14,728 KB) [v2] Thu, 14 Sep 2023 23:29:36 UTC (14,729 KB) Bibliographic Tools Bibliographic Explorer Toggle Bibliographic Explorer () Litmaps...
Judge Sullivan's Appeal for 'En Banc' Hearing Has Good Chance at Success
Judge Emmet Sullivan's refusal to abide by the D.C. Circuit Court's decision to dismiss the Flynn case and subsequent appeal for an "en banc" decision is not without precedent. Flying under the radar is the role that Judge Sullivan has played in simultaneously overseeing both the Michael Flynn case and a major lawsuit against Trump. In Blumenthal v.
The Evidence is Mounting that Obama Set Up Flynn
Topics in this post: Barack Obama Michael Flynn RussiaGate Spygate ShareTweetSubscribe: CDN Daily Briefing While discussing the calls made between incoming National Security Adviser Michael Flynn and Russian ambassador Sergey Kislyak, then President Obama ordered FBI Director James Comey to “make sure you look into things and have the right people on it.” This is according to the recently released handwritten notes of FBI agent Peter Strzok.
Why Christian Children Don’t Belong In Public Schools
Let’s get right to the point: many Christians throughout history shared the idea that God is the fundamental source of all truth, whether religious, academic, or otherwise. But what are we to make of a student who has spent 15 to 20 years studying academics without ever considering God’s relationship to these fields of knowledge? Does this kind of education not actually imply that God is not the source of all knowledge and truth?
Reductio ad Machina: Human Identity in the Age of Machines ~ The Imaginative Conservative
“Technique has penetrated the deepest recesses of the human being. The machine tends not only to create a new human environment, but also to modify man’s very essence…. He must adapt himself, as though the world were new, to a universe for which he was not created. He was made to go six kilometers an hour, and he goes a thousand. He was made to eat when he was hungry and to sleep when he was sleepy; instead, he obeys a clock.
The Fisher-Price God: A Call to Childlike Play
But let us ever praise him, and extol His bounty, following our delightful task To prune these growing Plants, and tend these Flow’rs, Which were it toilsome, yet with thee were sweet.[1] Of course the world of work begins to become—threatens to become—our only world, to the exclusion of all else.
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