We are a team of legged robot enthusiasts based out of Indian Institute of Science, Bengaluru. We are mainly interested in advanced mobility in extremely challenging terrains. The team consists of technical staff members, students, interns and faculty with varying backgrounds and interests.
News
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March 02, 2024
We are thrilled to announce that our paper, “Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments,” has been accepted at the European Control Conference 2024 (ECC), Stockholm, Sweden.
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January 31, 2024
Our recent work titled “Barrier Functions Inspired Reward Shaping for Reinforcement Learning” has been accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan. (ICRA 2024).
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January 26, 2024
We are thrilled to announce that two of our papers are accepted at the American Control Conference (ACC), Toronto, Canada, this time! 📝✨ “Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach” by Manan Tayal, Rajpal Singh, Jishnu Keshvan & Shishir Kolathaya and “Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance” by Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap & Shishir Kolathaya.
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September 25, 2023
Our recent work titled “Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs” has been accepted to Indian Control Conference (ICC) 2023, Vishakhapatnam, India.
Research
Learning a formally verified CBF in stochastic environment
Neural Network Based CBF with completeness guarantees
Dynamic Manipulator
A highly dynamic, torque controllable manipulator for quadruped robots.
Collision Cone Control Barrier Functions (C3BF)
Control Barrier Functions for Kinematic Obstacle Avoidance :A Collision Cone Approach
Force control for Robust Quadruped Locomotion: A Linear Policy Approach
A framework for designing controllers to achieve robust blind quadrupedal walking using force control thorugh learnt linear policies.
Energy Based Control Barrier Functions
A new class of CBFs for robotic systems that augment kinetic energy with the traditional forms.
People
Faculty
Shishir Kolathaya
Assistant Professor, CSA & CPS, IISc
Collaborators
Pushpak Jagtap
Assistant Professor, CPS, IISc
Jishnu Keshavan
Assistant Professor, ME, IISc
Ayonga Hereid
Assistant Professor, ME & AE, OSU
Andrew Clark
Associate Professor, ESE, WUSTL
Debasish Ghose
Professor, AE & CPS, IISc
Bharadwaj Amrutur
Professor, ECE & CPS, IISc
Shalabh Bhatnagar
Professor, CSA, IISc
Aaron Ames
Bren Professor, ME & CDS, Caltech
Ashitava Ghosal
Prof. Satish Dhavan Chair Professor, ME, IISc (Retd.)
PhD Students
Pramod Pal
Design of Legged Robots
Vamshi Kumar Kurva
Learning Based Control
Manan Tayal
Safe Robot Learning and Control
Aman Singh
Design and Control Co-Optimization
Aditya Shirwatkar
Model Based RL
Masters Students
Aastha Mishra
M Tech (Res)
Prakrut Kotecha
M Tech (Res)
Tirth Siyala
M Tech (Res)
Sudharsan
RAS
Vaishnav B
RAS
Staff
Darshit Darji
Vishnu Joshi
Alumni
GVS Mothish
M.Tech. RAS, 2024
Abhishek Ranjan
M.Tech. Research, 2024
Naman Saxena
M.Tech. Research, 2023
Sangeet M
M.Tech. AI, 2023
Subhojyoti Khastagir
M.Tech. CSA, 2023
Phani M Thontepu
M.Tech. AI, 2022
Ankit Pandita
M.Tech. AI, 2022
Palaparthi Govindu
M.Tech. CSA, 2022
Devaraju Vinoda
M.Tech. CSA,2022
Soumya Rani
M.Tech. CSA, 2021