Publications

2023 December	Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs Phani M Thontepu, Bhavya Giri Goswami, Manan Tayal, Neelaksh Singh, Shyam Sundar P I, Shyam Sundar M G, Suresh Sundaram, Vaibhav Katewa, and Shishir Kolathaya (HEAD) 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 (HEAD) 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 (HEAD) 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 (HEAD), 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 (HEAD) 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 (HEAD), 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 (HEAD), 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 (HEAD) 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 (HEAD) 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 (HEAD) IEEE International Conference on Robotics and Automation (ICRA) 2022, Philadelphia, USA
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 (HEAD) RA-Letters & 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 (HEAD) 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 (HEAD) 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 (HEAD) IEEE International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation (IRIA) 2021
July	PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry Shishir Kolathaya (HEAD) 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 (HEAD), 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 (HEAD), and and Aaron D. Ames L-CSS & American Control Conference (ACC) 2021, Virtually
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 (HEAD) 4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA
August	Energy based Control Barrier Functions for Robotic Systems Shishir Kolathaya (HEAD) 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 (HEAD) IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) 2020 Naples, Italy.
April	Local Stability of PD Controlled Bipedal Walking Robots Shishir Kolathaya (HEAD) Automatica
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 (HEAD) 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 (HEAD) IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) New Delhi, India.
October	Trajectory based deep policy search for quadrupedal walking Shishir Kolathaya (HEAD), 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.
August	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 (HEAD) IEEE ICCAR 2019 Beijing, China.
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 (HEAD) IEEE International Conference on Robotics and Automation (ICRA) 2019 Montreal, Canada.
0	Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach Manan Tayal, and Shishir Kolathaya (HEAD) Arxiv (in review)