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Andrew J. Taylor
Andrew J. Taylor
Senior Motion Planning Engineer at Motional AD
Verified email at alumni.caltech.edu - Homepage
Title
Cited by
Cited by
Year
Learning for safety-critical control with control barrier functions
AJ Taylor, A Singletary, Y Yue, AD Ames
2020 Learning for Dynamics and Control (L4DC), 708-717, 2020
2392020
Adaptive safety with control barrier functions
AJ Taylor, AD Ames
2020 AACC American Control Conference (ACC), 1399-1405, 2020
1602020
Multi-layered safety for legged robots via control barrier functions and model predictive control
R Grandia, AJ Taylor, AD Ames, M Hutter
2021 IEEE International Conference on Robotics and Automation (ICRA), 8352-8358, 2021
1012021
Episodic learning with control lyapunov functions for uncertain robotic systems
AJ Taylor, VD Dorobantu, HM Le, Y Yue, AD Ames
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019
752019
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions
S Dean, AJ Taylor, RK Cosner, B Recht, AD Ames
4th Conference on on Robot Learning (CoRL 2020), 2020
672020
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions
A Alan, AJ Taylor, CR He, G Orosz, AD Ames
IEEE Control Systems Letters 6, 908-913, 2021
532021
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
R Grandia, AJ Taylor, A Singletary, M Hutter, AD Ames
2020 Robotics: Science and Systems XVI (RSS), 2020
402020
A control barrier perspective on episodic learning via projection-to-state safety
AJ Taylor, A Singletary, Y Yue, AD Ames
IEEE Control Systems Letters 5 (3), 1019-1024, 2020
362020
Towards robust data-driven control synthesis for nonlinear systems with actuation uncertainty
AJ Taylor, VD Dorobantu, S Dean, B Recht, Y Yue, AD Ames
2021 IEEE 60th Conference on Decision and Control (CDC), 6469-6476, 2021
342021
Measurement-Robust Control Barrier Functions: Certainty in Safety with Uncertainty in State
RK Cosner, AW Singletary, AJ Taylor, TG Molnar, KL Bouman, AD Ames
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021
282021
Control barrier functions and input-to-state safety with application to automated vehicles
A Alan, AJ Taylor, CR He, AD Ames, G Orosz
IEEE Transactions on Control Systems Technology, 2023
262023
Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions
AJ Taylor, P Ong, J Cortés, AD Ames
IEEE Control Systems Letters 5 (3), 749-754, 2020
252020
Data-driven safety filters: Hamilton-jacobi reachability, control barrier functions, and predictive methods for uncertain systems
KP Wabersich, AJ Taylor, JJ Choi, K Sreenath, CJ Tomlin, AD Ames, ...
IEEE Control Systems Magazine 43 (5), 137-177, 2023
212023
Episodic Learning for Safe Bipedal Locomotion with Control Barrier Functions and Projection-to-State Safety
N Csomay-Shanklin, RK Cosner, M Dai, AJ Taylor, AD Ames
2021 Learning for Dynamics and Control (L4DC), 1041-1053, 2021
192021
Safety-Aware Preference-Based Learning for Safety-Critical Control
RK Cosner, M Tucker, AJ Taylor, K Li, TG Molnár, W Ubellacker, A Alan, ...
2022 Learning for Dynamics and Control (L4DC), 1020-1033, 2022
162022
A control lyapunov perspective on episodic learning via projection to state stability
AJ Taylor, VD Dorobantu, M Krishnamoorthy, HM Le, Y Yue, AD Ames
2019 IEEE 58th Conference on Decision and Control (CDC), 1448-1455, 2019
142019
Robust Safety under Stochastic Uncertainty with Discrete-Time Control Barrier Functions
RK Cosner, P Culbertson, AJ Taylor, AD Ames
2023 Robotics: Science and Systems XIX (RSS), 2023
132023
Multi-rate planning and control of uncertain nonlinear systems: Model predictive control and control lyapunov functions
N Csomay-Shanklin, AJ Taylor, U Rosolia, AD Ames
2022 IEEE 61st Conference on Decision and Control (CDC), 3732-3739, 2022
122022
Safe backstepping with control barrier functions
AJ Taylor, P Ong, TG Molnar, AD Ames
2022 IEEE 61st Conference on Decision and Control (CDC), 5775-5782, 2022
122022
Safety of sampled-data systems with control barrier functions via approximate discrete time models
AJ Taylor, VD Dorobantu, RK Cosner, Y Yue, AD Ames
2022 IEEE 61st Conference on Decision and Control (CDC), 7127-7134, 2022
112022
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