Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. - Shishir Nadubettu Yadukumar; Bhargav Kothapalli; Aaron D. Ames (ACC, 2012)

Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. - Shishir Nadubettu Yadukumar; Murali Pasupuleti; Aaron D. Ames (IROS, 2012)

Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. - Huihua Zhao; Shishir Nadubettu Yadukumar; Aaron D. Ames (IROS, 2012)

Achieving bipedal locomotion on rough terrain through human-inspired control. - Shishir Kolathaya; Aaron D. Ames (SSRR, 2012)

From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. - Shishir Nadubettu Yadukumar; Murali Pasupuleti; Aaron D. Ames (WAFR, 2012)

Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. - Shishir Kolathaya; Aaron D. Ames (ACC, 2014)

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. - Ayonga Hereid; Shishir Kolathaya; Mikhail S. Jones; Johnathan Van Why; Jonathan W. Hurst; Aaron D. Ames (HSCC, 2014)

Human-inspired walking via unified PD and impedance control. - Wen-Loong Ma; Huihua Zhao; Shishir Kolathaya; Aaron D. Ames (ICRA, 2014)

Quadratic programming and impedance control for transfemoral prosthesis. - Huihua Zhao; Shishir Kolathaya; Aaron D. Ames (ICRA, 2014)

Composing Dynamical Systems to Realize Dynamic Robotic Dancing. - Shishir Kolathaya; Wen-Loong Ma; Aaron D. Ames (WAFR, 2014)

Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits. - Shishir Kolathaya; Aaron D. Ames (ADHS, 2015)

First steps toward formal controller synthesis for bipedal robots. - Aaron D. Ames; Paulo Tabuada; Bastian Schürmann; Wen-Loong Ma; Shishir Kolathaya; Matthias Rungger; Jessy W. Grizzle (HSCC, 2015)

Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. - Shishir Kolathaya; Ayonga Hereid; Aaron D. Ames (ACC, 2016)

Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. - Ayonga Hereid; Shishir Kolathaya; Aaron D. Ames (CDC, 2016)

Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. - Jacob P. Reher; Ayonga Hereid; Shishir Kolathaya; Christian M. Hubicki; Aaron D. Ames (WAFR, 2016)

System Identification and Control through Efficient SVA Based Regressor Computation. - Shishir Kolathaya; Benjamin J. Morris; Ryan W. Sinnet; Aaron D. Ames (CoRR, 2016)

Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. - Wen-Loong Ma; Shishir Kolathaya; Eric R. Ambrose; Christian M. Hubicki; Aaron D. Ames (HSCC, 2017)

Phase Uncertainty to State Stability of Continuous Periodic Orbits. - Shishir Kolathaya (CoRR, 2017)

Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. - Shishir Kolathaya; Jacob Reher; Ayonga Hereid; Aaron D. Ames (ACC, 2018)

Input to State Stability of Bipedal Walking Robots: Application to DURUS. - Shishir Kolathaya; Jacob Reher; Aaron D. Ames (CoRR, 2018)

Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. - Shishir Kolathaya; William Guffey; Ryan W. Sinnet; Aaron D. Ames (IEEE Robotics Autom. Lett., 2018)

Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives. - Abhik Singla; Shounak Bhattacharya; Dhaivat Dholakiya; Shalabh Bhatnagar; Ashitava Ghosal; Bharadwaj Amrutur; Shishir Kolathaya (ICRA, 2019)

PD based Robust Quadratic Programs for Robotic Systems. - Shishir Kolathaya; Sushant Veer (IROS, 2019)

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots. - Shounak Bhattacharya; Abhik Singla; Abhimanyu; Dhaivat Dholakiya; Shalabh Bhatnagar; Bharadwaj Amrutur; Ashitava Ghosal; Shishir Kolathaya (RO-MAN, 2019)

Trajectory based Deep Policy Search for Quadrupedal Walking. - Shishir Kolathaya; Ashitava Ghosal; Bharadwaj Amrutur; Ashish Joglekar; Suhan Shetty; Dhaivat Dholakiya; Abhimanyu; Aditya Sagi; Shounak Bhattacharya; Abhik Singla; Shalabh Bhatnagar (RO-MAN, 2019)

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; Shishir Kolathaya (CoRR, 2019)

Gait Library Synthesis for Quadruped Robots via Augmented Random Search. - Sashank Tirumala; Aditya Sagi; Kartik Paigwar; Ashish Joglekar; Shalabh Bhatnagar; Ashitava Ghosal; Bharadwaj Amrutur; Shishir Kolathaya (CoRR, 2019)

Input-to-State Safety With Control Barrier Functions. - Shishir Kolathaya; Aaron D. Ames (IEEE Control. Syst. Lett., 2019)

Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach. - Kartik Paigwar; Lokesh Krishna; Sashank Tirumala; Naman Khetan; Aditya Varma; Ashish Joglekar; Shalabh Bhatnagar; Ashitava Ghosal; Bharadwaj Amrutur; Shishir Kolathaya (CoRL, 2020)

Multi-Instance Aware Localization for End-to-End Imitation Learning. - Sagar Gubbi Venkatesh; Raviteja Upadrashta; Shishir Kolathaya; Bharadwaj Amrutur (IROS, 2020)

Teaching Robots Novel Objects by Pointing at Them. - Sagar Venkatesh Gubbi; Raviteja Upadrashta; Shishir Kolathaya; Bharadwaj Amrutur (RO-MAN, 2020)

Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations. - Sashank Tirumala; Sagar Venkatesh Gubbi; Kartik Paigwar; Aditya Sagi; Ashish Joglekar; Shalabh Bhatnagar; Ashitava Ghosal; Bharadwaj Amrutur; Shishir Kolathaya (RO-MAN, 2020)

Local stability of PD controlled bipedal walking robots. - Shishir Kolathaya (Autom., 2020)

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; Shishir Kolathaya (CoRR, 2020)

Multi-Agent Collaborative Framework for Automated Agriculture. - Kumar Ankit; Shishir N. Y. Kolathaya; Debasish Ghose (ACOMP, 2021)

Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. - Lokesh Krishna; Utkarsh A. Mishra; Guillermo A. Castillo; Ayonga Hereid; Shishir Kolathaya (IROS, 2021)

Imitation Learning for High Precision Peg-in-Hole Tasks. - Sagar Venkatesh Gubbi; Shishir Kolathaya; Bharadwaj Amrutur (CoRR, 2021)

Stochastic Action Prediction for Imitation Learning. - Sagar Gubbi Venkatesh; Nihesh Rathod; Shishir Kolathaya; Bharadwaj Amrutur (CoRR, 2021)

PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry. - Shishir Kolathaya (IEEE Control. Syst. Lett., 2021)

Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. - Wen-Loong Ma; Noel Csomay-Shanklin; Shishir Kolathaya; Kaveh Akbari Hamed; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints. - Yogita Choudhary; Shishir Kolathaya (ECC, 2022)

Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning. - Utkarsh A. Mishra; Soumya R. Samineni; Prakhar Goel; Chandravaran Kunjeti; Himanshu Lodha; Aman Singh; Aditya Sagi; Shalabh Bhatnagar; Shishir Kolathaya (ICRA, 2022)

Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. - Phani Thontepu; Bhavya Giri Goswami; Neelaksh Singh; Shyamsundar P. I; Shyam Sundar M. G; Suresh Sundaram; Vaibhav Katewa; Shishir Kolathaya (CoRR, 2022)

Safety-Critical Kinematic Control of Robotic Systems. - Andrew Singletary; Shishir Kolathaya; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. - Lokesh Krishna; Guillermo A. Castillo; Utkarsh A. Mishra; Ayonga Hereid; Shishir Kolathaya (IEEE Robotics Autom. Lett., 2022)

Optimum Design of a Compliant Foot for a Quadruped. - Pramod Pal; Anubhab Dasgupta; Shishir N. Y. Kolathaya; Ashitava Ghosal (AIR, 2023)

Realizing Linear Controllers for Quadruped Robots on Planetary Terrains. - Aditya Shirwatkar; Somnath Sendhil Kumar; Shamrao Garur; Vinod Kumar; Shishir N. Y. Kolathaya (AIR, 2023)

Formation Control of Differential-Drive Robots with Input Saturation and Constraint on Formation Size. - Ayush Agrawal; Mukunda Bharatheesha; Shishir Kolathaya (CDC, 2023)

Off-Policy Average Reward Actor-Critic with Deterministic Policy Search. - Naman Saxena; Subhojyoti Khastagir; Shishir Kolathaya; Shalabh Bhatnagar (ICML, 2023)

Force control for Robust Quadruped 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; Shishir Kolathaya (ICRA, 2023)

MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. - Raghav Soni; Guillermo A. Castillo; Lokesh Krishna; Ayonga Hereid; Shishir Kolathaya (IROS, 2023)

Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking. - Eshwar S. R; Shishir Kolathaya; Gugan Thoppe (VALUETOOLS, 2023)

Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. - Manan Tayal; Shishir Kolathaya (CoRR, 2023)

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs). - Manan Tayal; Shishir Kolathaya (CoRR, 2023)

Stoch BiRo: Design and Control of a low cost bipedal robot. - GVS Mothish; Karthik Rajgopal; Ravi Kola; Manan Tayal; Shishir Kolathaya (CoRR, 2023)

Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance. - Bhavya Giri Goswami; Manan Tayal; Karthik Rajgopal; Pushpak Jagtap; Shishir Kolathaya (ACC, 2024)

Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. - Manan Tayal; Rajpal Singh; Jishnu Keshavan; Shishir Kolathaya (ACC, 2024)

Learning a Formally Verified Control Barrier Function in Stochastic Environment. - Manan Tayal; Hongchao Zhang; Pushpak Jagtap; Andrew Clark 001; Shishir Kolathaya (CDC, 2024)

Revisit Anything: Visual Place Recognition via Image Segment Retrieval. - Kartik Garg; Sai Shubodh Puligilla; Shishir Kolathaya; K. Madhava Krishna; Sourav Garg (ECCV (68), 2024)

Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments. - Manan Tayal; Shishir Kolathaya (ECC, 2024)

Barrier Functions Inspired Reward Shaping for Reinforcement Learning. - Nilaksh; Abhishek Ranjan; Shreenabh Agrawal; Aayush Jain; Pushpak Jagtap; Shishir Kolathaya (ICRA, 2024)

A Collision Cone Approach for Control Barrier Functions. - Manan Tayal; Bhavya Giri Goswami; Karthik Rajgopal; Rajpal Singh; Tejas Rao; Jishnu Keshavan; Pushpak Jagtap; Shishir Kolathaya (CoRR, 2024)

BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains. - GVS Mothish; Manan Tayal; Shishir Kolathaya (CoRR, 2024)

Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions. - Aryan Agarwal; Ravi Agrawal; Manan Tayal; Pushpak Jagtap; Shishir Kolathaya (CoRR, 2024)

PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion. - Aditya Shirwatkar; Naman Saxena; Kishore Chandra; Shishir Kolathaya (CoRR, 2024)

Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates. - Manan Tayal; Aditya Singh; Pushpak Jagtap; Shishir Kolathaya (CoRR, 2024)

Discrete time model predictive control for humanoid walking with step adjustment. - Vishnu Joshi; Suraj Kumar; Nithin V; Shishir Kolathaya (CoRR, 2024)

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems. - Manan Tayal; Aditya Singh; Shishir Kolathaya; Somil Bansal (CoRR, 2025)

A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis. - Aman Singh; Bhavya Giri Goswami; Ketan Nehete; Shishir N. Y. Kolathaya (CoRR, 2025)

CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions. - Manan Tayal; Aditya Singh; Pushpak Jagtap; Shishir Kolathaya (CoRR, 2025)

Neural Control Barrier Functions from Physics Informed Neural Networks. - Shreenabh Agrawal; Manan Tayal; Aditya Singh; Shishir Kolathaya (CoRR, 2025)

MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion. - Vamshi Kumar Kurva; Shishir Kolathaya (CoRR, 2025)

GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets. - Narayanan P. P.; Sarvesh Prasanth Venkatesan; Srinivas Kantha Reddy; Shishir Kolathaya (CoRR, 2025)

Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion. - Prakrut Kotecha; Aditya Shirwatkar; Shishir Kolathaya (CoRR, 2025)

Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots. - Aman Singh; Deepak Kapa; Prasham Chedda; Shishir N. Y. Kolathaya (CoRR, 2025)

Stochastic Neural Control Barrier Functions. - Hongchao Zhang; Manan Tayal; Jackson Cox; Pushpak Jagtap; Shishir Kolathaya; Andrew Clark 001 (CoRR, 2025)

Signal Temporal Logic Compliant Co-design of Planning and Control. - Manas Sashank Juvvi; Tushar Dilip Kurne; Vaishnavi J; Shishir Kolathaya; Pushpak Jagtap (CoRR, 2025)

Safety Certification in the Latent space using Control Barrier Functions and World Models. - Mehul Anand; Shishir Kolathaya (CoRR, 2025)

Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions. - Aditya Singh; Aastha Mishra; Manan Tayal; Shishir Kolathaya; Pushpak Jagtap (CoRR, 2025)

Fixed time convergence guarantees for Higher Order Control Barrier Functions. - Janani S. K; Shishir Kolathaya (CoRR, 2025)