Wyatt Ubellacker - researchr alias

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Viewing Publication 1 - 14 from 14

2023

Probabilistic Guarantees for Nonlinear Safety-Critical Optimal ControlPrithvi Akella, Wyatt Ubellacker, Aaron D. Ames. iros 2023: 8120-8126 [doi]

Safety-Critical Controller Verification via Sim2Real Gap QuantificationPrithvi Akella, Wyatt Ubellacker, Aaron D. Ames. icra 2023: 10539-10545 [doi]

Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity FlowsApurva Badithela, Josefine B. Graebener, Wyatt Ubellacker, Eric V. Mazumdar, Aaron D. Ames, Richard M. Murray. icra 2023: 12430-12436 [doi]

Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable EnvironmentsKasper Johansson, Ugo Rosolia, Wyatt Ubellacker, Andrew Singletary, Aaron D. Ames. icra 2023: 1386-1392 [doi]

Robust Locomotion on Legged Robots through Planning on Motion Primitive GraphsWyatt Ubellacker, Aaron D. Ames. icra 2023: 12142-12148 [doi]

2022

Interactive Multi-Modal Motion Planning With Branch Model Predictive ControlYuxiao Chen 0001, Ugo Rosolia, Wyatt Ubellacker, Noel Csomay-Shanklin, Aaron D. Ames. ral, 7(2):5365-5372, 2022. [doi]

Self-Supervised Online Learning for Safety-Critical Control using Stereo VisionRyan K. Cosner, Ivan D. Jimenez Rodriguez, Tamás G. Molnár, Wyatt Ubellacker, Yisong Yue, Aaron D. Ames, Katherine L. Bouman. icra 2022: 11487-11493 [doi]

Safety-Aware Preference-Based Learning for Safety-Critical ControlRyan K. Cosner, Maegan Tucker, Andrew J. Taylor, Kejun Li, Tamás G. Molnár, Wyatt Ubellacker, Anil Alan, Gábor Orosz, Yisong Yue, Aaron D. Ames. l4dc 2022: 1020-1033 [doi]

Model-Free Safety-Critical Control for Robotic SystemsTamás G. Molnár, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames. ral, 7(2):944-951, 2022. [doi]

2021

Online Learning of Unknown Dynamics for Model-Based Controllers in Legged LocomotionYu Sun, Wyatt Ubellacker, Wen-Loong Ma, Xiang Zhang, Changhao Wang, Noel Csomay-Shanklin, Masayoshi Tomizuka, Koushil Sreenath, Aaron D. Ames. ral, 6(4):8442-8449, 2021. [doi]

Verifying Safe Transitions between Dynamic Motion Primitives on Legged RobotsWyatt Ubellacker, Noel Csomay-Shanklin, Tamás G. Molnár, Aaron D. Ames. iros 2021: 8477-8484 [doi]

2015

A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES systemJoão Ramos, Albert Wang, Wyatt Ubellacker, John Mayo, Sangbae Kim. humanoids 2015: 844-850 [doi]

The HERMES humanoid system: A platform for full-body teleoperation with balance feedbackAlbert Wang, João Ramos, John Mayo, Wyatt Ubellacker, Justin Cheung, Sangbae Kim. humanoids 2015: 730-737 [doi]

2013

A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructureAnirban Mazumdar, Aaron Fittery, Wyatt Ubellacker, H. Harry Asada. icra 2013: 3415-3422 [doi]

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