Publications

Journal Papers

2022
January
PDF 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
PDF 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
PDF 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
PDF 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
PDF Local Stability of PD Controlled Bipedal Walking Robots
Shishir Kolathaya
Automatica

Conference Papers

* - The authors have contributed equally

2024
July
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF Reachability Analysis of UAVs through Cluttered Environments
Kumar Ankit, Shrivathsa M S, Shishir Kolathaya, and Debasish Ghose
AIAA SCITECH 2024 Forum
2023
December
PDF 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
PDF 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
PDF 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
PDF Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
Manan Tayal, and Shishir Kolathaya
Arxiv

July
PDF 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
PDF 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
PDF 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
PDF 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
PDF Realising the role of arms on improving the stability bipedal robots
Manan Tayal, and Shishir Kolathaya
Pre-print

July
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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.