2024
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
|
May
|
Vision Based C3BF in UGV Unicycle Model
Sahil Bobade,
Anand Sortur,
Sudharsan Vishwanathan,
Rushikesh Jadhav,
and
Shishir Kolathaya
Pre-print
|
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
|
September
|
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
Manan Tayal,
and
Shishir Kolathaya
Arxiv
|
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
|
Realising the role of arms on improving the stability bipedal robots
Manan Tayal,
and
Shishir Kolathaya
Pre-print
|
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
|
August
|
Energy based Control Barrier Functions for Robotic Systems
Shishir Kolathaya
TechArxiv
|
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
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
|
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.
|