Publications

Patents

2024 August

Low-cost sandwiched robotic leg design for legged locomotion Aman Singh, and Shishir Kolathaya Indian Patent

Journal Papers

2022 January	Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains Lokesh Krishna, Guillermo A. Castillo, Utkarsh A Mishra, Ayonga Hereid, and Shishir Kolathaya RA-Letters & IEEE International Conference on Robotics and Automation (ICRA) 2022, Philadelphia, USA
2021 July	PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry Shishir Kolathaya IEEE Control Systems Letters (L-CSS) & Conference on Decision and Control (CDC) 2020, Jeju Island, South Korea
May	Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, and Aaron D Ames RA Letters & IEEE International Conference on Robotics and Automation (ICRA) 2021, Xi'an, China
January	Safety-Critical Kinematic Control of Robotic Systems Andrew Singletary, Shishir Kolathaya, and and Aaron D. Ames L-CSS & American Control Conference (ACC) 2021, Virtually
2020 April	Local Stability of PD Controlled Bipedal Walking Robots Shishir Kolathaya Automatica

Conference Papers

* - The authors have contributed equally

2025 May	PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion Aditya Shirwatkar*, Naman Saxena*, Kishore Chandra, and Shishir Kolathaya IEEE International Conference on Robotics and Automation (ICRA) 2025, Atlanta, USA
2024 December	Learning a Formally Verified Control Barrier Function in Stochastic Environment Manan Tayal, HongChao Zhang, Pushpak Jagtap, Andrew Clark, and Shishir Kolathaya Conference on Decision and Control (CDC) 2024, Milan, Italy
December	BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains GVS Mothish, Manan Tayal, and Shishir Kolathaya Indian Control Conference (ICC) 2024, Bhopal, India
December	Adaptive Control of Quadrupeds under varying load conditions Vamshi Kumar Kurva, and Shishir Kolathaya Indian Control Conference (ICC) 2024, Bhopal, India
December	Discrete time model predictive control for humanoid walking with step adjustment Vishnu Joshi, Suraj Kumar, and Shishir Kolathaya Indian Control Conference (ICC) 2024, Bhopal, India
October	Revisit Anything: Visual Place Recognition via Image Segment Retrieval Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya, Madhava Krishna, and Sourav Garg European Conference on Computer Vision (ECCV) 2024, Milan, Italy
July	Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach Manan Tayal, Rajpal Singh, Jishnu Keshavan, and Shishir Kolathaya American Control Conference (ACC) 2024, Toronto, Canada
July	Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance Bhavya Giri Goswami*, Manan Tayal*, Karthik Rajgopal, Pushpak Jagtap, and Shishir Kolathaya American Control Conference (ACC) 2024, Toronto, Canada
June	Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments Manan Tayal, and Shishir Kolathaya European Control Conference (ECC) 2024, Stockholm, Sweden
May	Barrier Functions Inspired Reward Shaping for Reinforcement Learning Nilaksh*, Abhishek Ranjan*, Shreenabh Agrawal*, Aayush Jain, Pushpak Jagtap, and Shishir Kolathaya IEEE International Conference on Robotics and Automation (ICRA) 2024, Yokohama, Japan
April	Stoch BiRo: Design and Control of a low cost bipedal robot GVS Mothish*, Karthik Rajgopal*, Ravi Kola*, Manan Tayal, and Shishir Kolathaya IEEE International Conference on Control, Automation and Robotics (ICCAR) 2024, Singapore
January	Reachability Analysis of UAVs through Cluttered Environments Kumar Ankit, Shrivathsa M S, Shishir Kolathaya, and Debasish Ghose AIAA SCITECH 2024 Forum
2023 December	Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs Phani Thontepu*, Bhavya Giri Goswami*, Manan Tayal, Neelaksh Singh, Shyam Sundar P I, Shyam Sundar M G, Suresh Sundaram, Vaibhav Katewa, and Shishir Kolathaya Indian Control Conference (ICC) 2023, Vishakhapatnam, India
December	Formation control of differential-drive robots with input saturation and constraints on formation size Ayush Agrawal, Mukunda Bharatheesha, and Shishir Kolathaya IEEE Conference on Decision and Control (CDC) 2023, Singapore
October	MELP: Model Embedded Linear Policies for Robust Bipedal Hopping Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, and Shishir Kolathaya IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023, Detroit, USA
July	Off-Policy Average Reward Actor-Critic with Deterministic Policy Search Naman Saxena, Subhojyoti Khastagir, Shishir Kolathaya, and Shalabh Bhatnagar International Conference on Machine Learning (ICML) 2023, Hawaii, US
July	Realizing Linear Controllers for Quadruped Robots on Planetary Aditya Shirwatkar, Shamrao Garur, Vinod Kumar, and Shishir Kolathaya 6th International Conference of Advances In Robotics (AIR) 2023
July	Optimum Design of a Compliant Foot for a Quadruped Pramod Pal, Anubhab Dasgupta, Shishir Kolathaya, and Ashitava Ghosal 6th International Conference of Advances In Robotics (AIR) 2023
June	Efficient Robot Hopping Mechanisms with Compliance Using Evolutionary Methods Pramod Pal, Anubhab Dasgupta, Avinash Bhashkar, Shishir Kolathaya, and Ashitava Ghosal International Conference on Robotics in Alpe-Adria Danube Region, 2023, Bled, Slovenia
May	Force Control for Robust Quadrupedal Locomotion: A Linear Policy Approach Aditya Shirwatkar*, Vamshi Kumar Kurva*, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, and Shishir Kolathaya IEEE International Conference on Robotics and Automation (ICRA) 2023, London, UK
2022 July	Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints Yogita Choudhary, and Shishir Kolathaya European Controls Conference (ECC) 2022, London, UK
January	Dynamic Mirror Descent based Model Predictive Control for Accelerated Robot Learning Utkarsh A Mishra, Soumya Rani, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, and Shishir Kolathaya IEEE International Conference on Robotics and Automation (ICRA) 2022, Philadelphia, USA
2021 December	Motion Planning With Dynamic Obstacles Using Convexified Control Barrier Functions VP Varun, AP Vinod, and Shishir Kolathaya IEEE Indian Control Conference (ICC) 2021, Mumbai, India
September	Learning Linear Policies for Robust Bipedal Locomotionon Terrains with Varying Slopes Lokesh Krishna, Utkarsh A Mishra, Guillermo A. Castillo, Ayonga Hereid, and Shishir Kolathaya IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 Prague, Czech Republic.
September	Inverse Kinematics Analysis of Cassie Robot using Radial Basis Function Networks Mukund Mitra, Suman Raj, and Shishir Kolathaya IEEE International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation (IRIA) 2021
2020 November	Robust Quadrupedal Locomotion on Sloped Terrains - A Linear Policy Approach Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, and Shishir Kolathaya 4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA
July	Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations Sashank Tirumala, Sagar Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, and Shishir Kolathaya IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) 2020 Naples, Italy.
2019 October	Learning active spine behaviors for dynamic and efficient locomotion in quadruped robots Shounak Bhattacharya, Abhik Singla, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, and Shishir Kolathaya IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) New Delhi, India.
October	Trajectory based deep policy search for quadrupedal walking Shishir Kolathaya, Ashish Joglekar, Suhan Shetty, Dhaivat Dholakiya, Aditya Sagi, Shounak Bhattacharya, Abhik Singla, Shalabh Bhatnagar, Ashitava Ghosal, and Bharadwaj Amrutur IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2019 New Delhi, India.
May	Realizing learned quadruped locomotion behaviors through kinematic motion primitives Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, and Shishir Kolathaya IEEE International Conference on Robotics and Automation (ICRA) 2019 Montreal, Canada.
April	Design, development and experimental realization of a quadrupedal research platform :Stoch Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan, Abhik Singla, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, and Shishir Kolathaya IEEE International Conference on Control, Automation and Robotics (ICCAR) 2019 Beijing, China.

Workshop/Symposium Papers

* - The authors have contributed equally

2024 October	Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates Manan Tayal*, Aditya Singh*, Pushpak Jagtap, and Shishir Kolathaya IROS Workshop on Formal Methods & Techniques in Robotic Systems, 2024, Abu Dhabi, UAE
July	Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions Aryan Agarwal*, Ravi Agrawal*, Manan Tayal*, Pushpak Jagtap, and Shishir Kolathaya 8th Cyber Physical Symposium (CyPhySS) 2024, Bangalore, India
2022 July	Realising the role of arms on improving the stability bipedal robots Manan Tayal, and Shishir Kolathaya 6th Cyber Physical Symposium (CyPhySS) 2022, Bangalore, India

Pre-Prints

* - The authors have contributed equally

2025 February	A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems Manan Tayal*, Aditya Singh*, Shishir Kolathaya, and Somil Bansal Pre-print
2024 May	Vision Based C3BF in UGV Unicycle Model Sahil Bobade, Anand Sortur, Sudharsan Vishwanathan, Rushikesh Jadhav, and Shishir Kolathaya Pre-print
2023 September	Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs) Manan Tayal, and Shishir Kolathaya Arxiv
2020 August	Energy based Control Barrier Functions for Robotic Systems Shishir Kolathaya TechArxiv
2019 December	Gait Library Synthesis for Quadruped Robots via Augmented Random Search Sashank Tirumala, Aditya Sagi, Kartik Paigwar, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, and Shishir Kolathaya arXiv

Theses