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ORCIDWyatt Ubellacker
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2020 – today
- 2024
[c14]Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Approximating Regions of Attraction via Flow-Control Barrier Functions and Constrained Polytope Expansion. ACC 2024: 3383-3390- [c13]Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár
, Aaron D. Ames:
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. ICRA 2024: 3485-3491 - [c12]Wyatt Ubellacker, Aaron D. Ames:
Learned Regions of Attraction for Safe Motion Primitive Transitions. IROS 2024: 3643-3650 - [i13]Josefine B. Graebener, Apurva S. Badithela, Denizalp Goktas, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Flow-Based Synthesis of Reactive Tests for Discrete Decision-Making Systems with Temporal Logic Specifications. CoRR abs/2404.09888 (2024) - 2023
- [c11]Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames:
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. ICRA 2023: 1386-1392 - [c10]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Safety-Critical Controller Verification via Sim2Real Gap Quantification. ICRA 2023: 10539-10545 - [c9]Wyatt Ubellacker, Aaron D. Ames:
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. ICRA 2023: 12142-12148 - [c8]Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. ICRA 2023: 12430-12436 - [c7]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. IROS 2023: 8120-8126 - [i12]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control. CoRR abs/2303.06258 (2023) - [i11]Jaemin Lee, Jeeseop Kim, Wyatt Ubellacker, Tamás G. Molnár, Aaron D. Ames:
Safety-critical Control of Quadrupedal Robots with Rolling Arms for Autonomous Inspection of Complex Environments. CoRR abs/2312.07778 (2023) - 2022
- [j3]Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames:
Model-Free Safety-Critical Control for Robotic Systems. IEEE Robotics Autom. Lett. 7(2): 944-951 (2022) - [j2]Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Interactive Multi-Modal Motion Planning With Branch Model Predictive Control. IEEE Robotics Autom. Lett. 7(2): 5365-5372 (2022) - [c6]Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman:
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. ICRA 2022: 11487-11493 - [c5]Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames:
Safety-Aware Preference-Based Learning for Safety-Critical Control. L4DC 2022: 1020-1033 - [i10]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Test and Evaluation of Quadrupedal Walking Gaits through Sim2Real Gap Quantification. CoRR abs/2201.01323 (2022) - [i9]Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman:
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. CoRR abs/2203.01404 (2022) - [i8]Wyatt Ubellacker, Aaron D. Ames:
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs. CoRR abs/2209.07503 (2022) - [i7]Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames:
Safety-Critical Controller Verification via Sim2Real Gap Quantification. CoRR abs/2209.09337 (2022) - [i6]Apurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray:
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows. CoRR abs/2210.10304 (2022) - 2021
- [j1]Yu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames:
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. IEEE Robotics Autom. Lett. 6(4): 8442-8449 (2021) - [c4]Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames:
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. IROS 2021: 8477-8484 - [i5]Wyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames:
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots. CoRR abs/2106.10310 (2021) - [i4]Yuxiao Chen, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames:
Interactive multi-modal motion planning with Branch Model Predictive Control. CoRR abs/2109.05128 (2021) - [i3]Tamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames:
Model-Free Safety-Critical Control for Robotic Systems. CoRR abs/2109.09047 (2021) - [i2]Kasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames:
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments. CoRR abs/2110.01002 (2021) - [i1]Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames:
Safety-Aware Preference-Based Learning for Safety-Critical Control. CoRR abs/2112.08516 (2021)
2010 – 2019
- 2015
- [c3]Albert Wang, João Ramos, John Mayo, Wyatt Ubellacker, Justin Cheung, Sangbae Kim:
The HERMES humanoid system: A platform for full-body teleoperation with balance feedback. Humanoids 2015: 730-737 - [c2]João Ramos, Albert Wang, Wyatt Ubellacker, John Mayo, Sangbae Kim:
A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system. Humanoids 2015: 844-850 - 2013
- [c1]Anirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada:
A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure. ICRA 2013: 3415-3422
Coauthor Index
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