Publications

2026 July	Conference Paper A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization Aastha Mishra, Aman Singh, and Shishir Kolathaya IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2026, Italy
June	Conference Paper COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators Aman Singh*, Deepak Kapa*, Suryank Joshi, and Shishir Kolathaya IEEE International Conference on Robotics and Automation (ICRA) 2026, Vienna, Austria
April	Preprint A Robust Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems Manan Tayal*, Aditya Singh*, Ganga Nair B, Shishir Kolathaya, and Somil Bansal Pre-print
March	Journal V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions Mumuksh Tayal*, Manan Tayal*, Aditya Singh, Shishir Kolathaya, and Ravi Prakash Transactions on Machine Learning Research (TMLR)
January	Workshop MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control Manan Tayal*, Aditya Singh*, Shishir Kolathaya, and Somil Bansal AAAI Workshop on Multi-Agent Path Planning
January	Journal A Collision Cone approach for Control Barrier Functions Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, and Shishir Kolathaya Transactions on Control System Technology (TCST)
January	Journal MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion Vamshi Kumar Kurva, and Shishir Kolathaya IEEE Robotics and Automation Letters (RAL)
2025 December	Conference Paper Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates Manan Tayal*, Aditya Singh*, Pushpak Jagtap, and Shishir Kolathaya Conference on Decision and Control (CDC) 2025, Rio, Brazil
December	Conference Paper Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning Ganga Nair*, Prakrut Kotecha*, and Shishir Kolathaya Indian Control Conference (ICC) 2025, Bangalore, India
December	Conference Paper Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions Aditya Singh*, Aastha Mishra*, Manan Tayal, Shishir Kolathaya, and Pushpak Jagtap Indian Control Conference (ICC) 2025, Bangalore, India
December	Conference Paper Safety Certification in the Latent Space Using Control Barrier Functions and World Models Mehul Anand, and Shishir Kolathaya Indian Control Conference (ICC) 2025, Bangalore, India
October	Conference Paper A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling Aman Singh*, Aastha Mishra*, Deepak Kapa, Suryank Joshi, and Shishir Kolathaya IEEE-RAS International Conference on Humanoid Robots
July	Conference Paper A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems Manan Tayal*, Aditya Singh*, Shishir Kolathaya, and Somil Bansal 42nd International Conference on Machine Learning (ICML) 2025, Vancouver, Canada
July	Conference Paper Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion Prakrut Kotecha, Aditya Shirwatkar, and Shishir Kolathaya 7th International Conference of Advances In Robotics (AIR) 2025
July	Conference Paper Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots Aman Singh, Deepak Kapa, Prasham Chedda, and Shishir N. Y. Kolathaya 7th International Conference of Advances In Robotics (AIR) 2025
July	Conference Paper Co-Design of Link lengths and Control for High Vertical Jumping in a Monoped Aastha Mishra, Aman Singh, and Shishir N. Y. Kolathaya 7th International Conference of Advances In Robotics (AIR) 2025
July	Conference Paper A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis Aman Singh, Bhavya Giri Goswami, Ketan Nehete, and Shishir N. Y. Kolathaya 7th International Conference of Advances In Robotics (AIR) 2025
May	Conference Paper 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
April	Preprint Neural Control Barrier Functions from Physics Informed Neural Networks Shreenabh Agrawal, Manan Tayal, Aditya Singh, and Shishir Kolathaya Pre-print
March	Preprint CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions Manan Tayal*, Aditya Singh*, Pushpak Jagtap, and Shishir Kolathaya Pre-print
February	Preprint Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds Prakrut Kotecha, Aditya Shirwatkar, and Shishir Kolathaya Pre-print
2024 December	Conference Paper 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	Conference Paper 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	Conference Paper Adaptive Control of Quadrupeds under varying load conditions Vamshi Kumar Kurva, and Shishir Kolathaya Indian Control Conference (ICC) 2024, Bhopal, India
December	Conference Paper 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	Conference Paper 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	Workshop 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
July	Conference Paper 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	Conference Paper 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	Conference Paper 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	Conference Paper 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
May	Preprint Vision Based C3BF in UGV Unicycle Model Sahil Bobade, Anand Sortur, Sudharsan Vishwanathan, Rushikesh Jadhav, and Shishir Kolathaya Pre-print
April	Conference Paper 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	Conference Paper Reachability Analysis of UAVs through Cluttered Environments Kumar Ankit, Shrivathsa M S, Shishir Kolathaya, and Debasish Ghose AIAA SCITECH 2024 Forum
2023 December	Conference Paper 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	Conference Paper 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	Conference Paper 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
September	Preprint Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs) Manan Tayal, and Shishir Kolathaya Arxiv
July	Conference Paper 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	Conference Paper 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	Conference Paper 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	Conference Paper 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	Conference Paper 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	Workshop Realising the role of arms on improving the stability bipedal robots Manan Tayal, and Shishir Kolathaya 6th Cyber Physical Symposium (CyPhySS) 2022, Bangalore, India
July	Conference Paper 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	Conference Paper 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
January	Journal 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 December	Conference Paper 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	Conference Paper 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	Conference Paper 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
July	Journal 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	Journal 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	Journal 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 November	Conference Paper 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
August	Preprint Energy based Control Barrier Functions for Robotic Systems Shishir Kolathaya TechArxiv
July	Conference Paper 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.
April	Journal Local Stability of PD Controlled Bipedal Walking Robots Shishir Kolathaya Automatica
2019 December	Preprint 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
October	Conference Paper 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	Conference Paper 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	Conference Paper 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	Conference Paper 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.

Patents

2025 March	A method and system for controlling quadrupedal robot locomotion Aditya Shirwatkar, Aditya Sagi, and Shishir Kolathaya Indian Patent
2024 August	Low-cost sandwiched robotic leg design for legged locomotion Aman Singh, and Shishir Kolathaya Indian Patent