Koushil Sreenath
Orcid: 0000-0002-5346-3637
According to our database1,
Koushil Sreenath
authored at least 127 papers
between 2007 and 2024.
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Bibliography
2024
Adaptive Energy Regularization for Autonomous Gait Transition and Energy-Efficient Quadruped Locomotion.
CoRR, 2024
Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes.
CoRR, 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control.
CoRR, 2024
2023
Autonomous navigation of underactuated bipedal robots in height-constrained environments.
Int. J. Robotics Res., July, 2023
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems.
IEEE Robotics Autom. Lett., June, 2023
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems.
CoRR, 2023
A Forward Reachability Perspective on Robust Control Invariance and Discount Factors in Reachability Analysis.
CoRR, 2023
CoRR, 2023
Robust and Versatile Bipedal Jumping Control through Multi-Task Reinforcement Learning.
CoRR, 2023
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States.
Proceedings of the Learning for Dynamics and Control Conference, 2023
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization.
IROS, 2023
IROS, 2023
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023
Proceedings of the 62nd IEEE Conference on Decision and Control, 2023
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions.
Proceedings of the American Control Conference, 2023
2022
IEEE Trans. Autom. Control., 2022
Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots.
IEEE Robotics Autom. Lett., 2022
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots.
IEEE Robotics Autom. Lett., 2022
CoRR, 2022
Perception-Aware Receding Horizon Trajectory Planning for Multicopters With Visual-Inertial Odometry.
IEEE Access, 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Bayesian Optimization Meets Hybrid Zero Dynamics: Safe Parameter Learning for Bipedal Locomotion Control.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Autonomous Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee using Control Barrier Functions.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments.
Proceedings of the European Control Conference, 2022
Proceedings of the Conference on Robot Learning, 2022
Proceedings of the Conference on Robot Learning, 2022
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions.
Proceedings of the American Control Conference, 2022
Proceedings of the American Control Conference, 2022
2021
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion.
IEEE Robotics Autom. Lett., 2021
Competitive Car Racing with Multiple Vehicles using a Parallelized Optimization with Safety Guarantee.
CoRR, 2021
A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes.
CoRR, 2021
Vision-Aided Autonomous Navigation of Bipedal Robots in Height-Constrained Environments.
CoRR, 2021
A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions.
CoRR, 2021
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability.
CoRR, 2021
Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain.
Proceedings of the 17th IEEE International Conference on Automation Science and Engineering, 2021
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles.
Proceedings of the 17th IEEE International Conference on Automation Science and Engineering, 2021
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function.
Proceedings of the 2021 American Control Conference, 2021
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility.
Proceedings of the 2021 American Control Conference, 2021
Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change.
Proceedings of the 2021 American Control Conference, 2021
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics.
Proceedings of the 2021 American Control Conference, 2021
Combining Model-Based Design and Model-Free Policy Optimization to Learn Safe, Stabilizing Controllers.
Proceedings of the 7th IFAC Conference on Analysis and Design of Hybrid Systems, 2021
2020
Differential Flatness Based Path Planning With Direct Collocation on Hybrid Modes for a Quadrotor With a Cable-Suspended Payload.
IEEE Robotics Autom. Lett., 2020
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects.
CoRR, 2020
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions.
Proceedings of the Robotics: Science and Systems XVI, 2020
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the 18th European Control Conference, 2020
Proceedings of the 59th IEEE Conference on Decision and Control, 2020
2019
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control.
CoRR, 2019
Auton. Robots, 2019
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019
Proceedings of the 17th European Control Conference, 2019
Proceedings of the 17th European Control Conference, 2019
Proceedings of the 17th European Control Conference, 2019
Proceedings of the 2019 American Control Conference, 2019
Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley.
Proceedings of the 2019 American Control Conference, 2019
2018
J. Intell. Robotic Syst., 2018
Int. J. Robotics Res., 2018
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking.
CoRR, 2018
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
2017
Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s).
CoRR, 2017
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons.
IEEE Access, 2017
Proceedings of the Robotics: Science and Systems XIII, 2017
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation.
Proceedings of the Robotics: Science and Systems XIII, 2017
Proceedings of the Robotics Research, The 18th International Symposium, 2017
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017
Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, 2017
Dynamics and control of a quadrotor with a payload suspended through an elastic cable.
Proceedings of the 2017 American Control Conference, 2017
2016
Proceedings of the Algorithmic Foundations of Robotics XII, 2016
Proceedings of the Algorithmic Foundations of Robotics XII, 2016
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
Proceedings of the 2016 American Control Conference, 2016
Optimal robust control for constrained nonlinear hybrid systems with application to bipedal locomotion.
Proceedings of the 2016 American Control Conference, 2016
Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints.
Proceedings of the 2016 American Control Conference, 2016
2015
Variation-Based Linearization of Nonlinear Systems Evolving on SO(3) and 𝕊<sup>2</sup>.
IEEE Access, 2015
Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs.
IEEE Access, 2015
Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015
The Reaction Mass Biped: Equations of motion, hybrid model for walking and trajectory tracking control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
Safety-critical and constrained geometric control synthesis using control Lyapunov and control Barrier functions for systems evolving on manifolds.
Proceedings of the American Control Conference, 2015
L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs.
Proceedings of the American Control Conference, 2015
Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement.
Proceedings of the 5th IFAC Conference on Analysis and Design of Hybrid Systems, 2015
2014
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics.
IEEE Trans. Autom. Control., 2014
Proceedings of the Robotics: Science and Systems X, 2014
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014
2013
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL.
Int. J. Robotics Res., 2013
Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013
Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations.
Proceedings of the 16th international conference on Hybrid systems: computation and control, 2013
Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013
Proceedings of the 52nd IEEE Conference on Decision and Control, 2013
2012
Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Switching control design for accommodating large step-down disturbances in bipedal robot walking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Proceedings of the 51th IEEE Conference on Decision and Control, 2012
Proceedings of the Latest Advances in Robot Kinematics, 2012
2011
A Compliant Hybrid Zero Dynamics Controller for Stable, Efficient and Fast Bipedal Walking on MABEL.
Int. J. Robotics Res., 2011
2010
Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion.
Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010
Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010
2009
Proceedings of the American Control Conference, 2009
2007
ACM SIGMOBILE Mob. Comput. Commun. Rev., 2007