Journal articles

  1. L. Krishna and G. Castillo and U. A. Mishra and A. Hereid S. Kolathaya.
    Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. 2022. IEEE Robotics and Automation Letters.
    2. .pdf .bib
  2. W-L. Ma and N. Csomay-Shanklin and S. Kolathaya and A. D. Ames.
    Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. 2021. IEEE Robotics and Automation Letters.
    3. .pdf .bib
  3. A. Singletary and S. Kolathaya and A. D. Ames.
    Safety-critical Kinematic Control of Robotic Systems. 2021. IEEE Control Systems Letters.
    4. .pdf .bib
  4. S. Kolathaya.
    PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry. 2020. IEEE Control Systems Letters. Vol 5 Issue 3, Pages 809-814
    5. .pdf .bib
  5. S. Kolathaya.
    Local Stability of PD Controlled Bipedal Walking Robots. 2020. Automatica. Volume 114, Pages 108841
    6. .pdf .bib
  6. S. Kolathaya and A. D. Ames.
    Input-to-State Safety With Control Barrier Functions. 2019. IEEE Control Systems Letters. Volume 3, Issue 1, Pages 108-113.
    7. .pdf .bib
  7. S. Kolathaya and W. Guffey and R. W. Sinnet and A. D. Ames.
    Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. 2018. IEEE Robotics and Automation Letters. Volume 3, Issue 4, Pages 3677-3684.
    8. .pdf .bib .video1 .video2
  8. A. D. Ames and P. Tabuada and A. Jones and W. Ma and M. Rungger and B. Schurmann and S. Kolathaya and J. W. Grizzle.
    First steps toward formal controller synthesis for bipedal robots with experimental implementation. 2017. Nonlinear Analysis: Hybrid Systems. Volume 25, Pages 155-173.
    9. .pdf .bib .video
  9. S. Kolathaya and A. D. Ames.
    Parameter to state stability of control Lyapunov functions for hybrid system models of robots. 2017. Nonlinear Analysis: Hybrid Systems. Volume 25, Pages 174-191.
    10. .pdf .bib

Conference publications

  1. A. Shirwatkar, N. Saxena, K. Chandra and S. Kolathaya. PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion 2025. IEEE International Conference on Robotics and Automation (ICRA).
    2. .pdf
  2. V. K. Kurva and S. Kolathaya. Adaptive control of Quadruped robot under varying load conditions 2024. Tenth Indian Control Conference (ICC), 232-237.
    3. .pdf
  3. V. Joshi, S. Kumar, N. Vasishta and S. Kolathaya. Discrete time model predictive control for humanoid walking with step adjustment 2024. Tenth Indian Control Conference (ICC).
    4. .pdf
  4. GVS. Mothish, M. Tayal and S. Kolathaya. BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains 2024. Tenth Indian Control Conference (ICC).
    5. .pdf
  5. M. Tayal, H. Zhang, P. Jagtap, A. Clark and S. Kolathaya. Learning a Formally Verified Control Barrier Function in Stochastic Environment 2024. IEEE 63rd Conference on Decision and Control.
    6. .pdf
  6. K Garg, SS Puligilla, S. Kolathaya, M Krishna and S Garg. Revisit Anything: Visual Place Recognition via Image Segment Retrieval 2024. European Conference on Computer Vision, 326-343.
    7. .pdf
  7. VSP Ravichand, S. Kolathaya and K. Balaji. Origami for deployment of Rigid Panel Array during Space Applications 2024. Space, Aerospace and Defence Conference (SPACE)
    8. .pdf
  8. M. Tayal, R. Singh, J. Keshavan and S. Kolathaya. Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach 2024. American Control Conference (ACC) 2024
    9. .pdf
  9. Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap and Shishir Kolathaya.
    Collision cone control barrier functions: Experimental validation on ugvs for kinematic obstacle avoidance 2024. American Control Conference (ACC) 2024
    10. .pdf
  10. Manan Tayal and Shishir Kolathaya.
    Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments 2024. European Control Conference (ECC) 2024
    11. .pdf
  11. Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap and Shishir Kolathaya.
    Barrier Functions Inspired Reward Shaping for Reinforcement Learning 2024. IEEE International Conference on Robotics and Automation (ICRA) 2024
    12. .pdf
  12. GVS Mothish, Karthik Rajgopal, Ravi Kola, Manan Tayal and Shishir Kolathaya.
    Stoch BiRo: Design and Control of a low cost bipedal robot. 2024. IEEE International Conference on Control, Automation and Robotics (ICCAR) 2024
    13. .pdf
  13. K. Ankit, M. S. Shrivathsa and S. Kolathaya and D. Ghose.
    Reachability Analysis of UAVs through Cluttered Environments. 2024. AIAA SCITECH 2024 Forum.
    14. .pdf
  14. A. Agrawal, M. Bharatheesha and S. Kolathaya.
    Formation Control of Differential-Drive Robots with Input Saturation and Constraint on Formation Size. 2023. IEEE Conference on Decision and Control (CDC).
    15. .pdf
  15. Phani Thontepu, Bhavya Giri Goswami, Manan Tayal, Neelaksh Singh, Shyam Sunder PI, Shyam Sunder MG, Suresh Sundaram, Vaibhav Katewa and Shishir Kolathaya.
    Collision cone control barrier functions for kinematic obstacle avoidance in ugvs 2023. Ninth Indian Control Conference (ICC) 2023
    16. .pdf
  16. R. Soni and G. A. Castillo and L. Krishna and A. Hereid and S. Kolathaya and G. Thoppe.
    MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. 2023. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
    17. .pdf .video
  17. S. R. Eshwar and S. Kolathaya and G. Thoppe.
    Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking. 2023. EAI International Conference on Performance Evaluation Methodologies and Tools.
    18. .pdf
  18. P. Pal and A. Dasgupta and A. Bhashkar and S. Kolathaya and A. Ghosal.
    Efficient Robot Hopping Mechanisms with Compliance Using Evolutionary Methods. 2023. International Conference on Robotics in Alpe-Adria Danube Region.
    19. .pdf
  19. A. Shirwatkar and S. S. Kumar and S. Garur and V. Kumar and S. Kolathaya.
    Realizing Linear Controllers for Quadruped Robots on Planetary Terrains. 2023. AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics.
    20. .pdf
  20. P. Pal and A. Dasgupta and S. Kolathaya and A. Ghosal.
    Optimum Design of a Compliant Foot for a Quadruped. 2023. AIR '23: Proceedings of the 2023 6th International Conference on Advances in Robotics.
    21. .pdf
  21. N. Saxena and S. Kashtagir and S. Kolathaya and S. Bhatnagar.
    Off-Policy Average Reward Actor-Critic with Deterministic Policy Search. 2023. International Conference on Machine Learning (ICML).
    22. .pdf
  22. A. Shirwatkar and and V. Kurva and D. Vinoda and A. Singh and A. Sagi and B. Goswami and S. Sood and S. Kolathaya.
    Force Control for Robust Quadrupedal Locomotion: A Linear Policy Approach. 2023. IEEE International Conference on Robotics and Automation (ICRA).
    23. .pdf .video
  23. Y. Choudhary and S. Kolathaya.
    Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints. 2022. European Control Conference (ECC).
    24. .pdf .bib
  24. U. A. Mishra and S. R. Samineni and P. Goel and C. Kunjeti and H. Lodha and A. Singh and A. Sagi and S. Bhatnagar and S. Kolathaya.
    Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning. 2022. IEEE International Conference on Robotics and Automation (ICRA).
    25. .pdf .bib
  25. L. Krishna and G. Castillo and U. A. Mishra and A. Hereid and S. Kolathaya.
    Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. 2022. IEEE International Conference on Robotics and Automation (ICRA).
    26. .pdf .bib
  26. M. Mitra and S. Raj and S. Kolathaya.
    Inverse Kinematics Analysis of Cassie Robot using Radial Basis Function Networks. 2021. International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation (IRIA).
    27. .pdf .bib
  27. L. Krishna and U. A. Mishra and G. A. Castillo and A. Hereid and S. Kolathaya.
    Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. 2021. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
    28. .pdf .bib
  28. Varun V. P. and Abraham P. Vinod and S. Kolathaya.
    Motion Planning With Dynamic Obstacles Using Convexified Control Barrier Functions. 2021. Seventh Indian Control Conference (ICC).
    29. .pdf .bib
  29. K. Ankit and S. Kolathaya and D. Ghose.
    Multi-Agent Collaborative Framework for Automated Agriculture. 2021. 15th International Conference on Advanced Computing and Applications (ACOMP).
    30. .pdf .bib
  30. W-L. Ma and N. Csomay-Shanklin and S. Kolathaya and A. D. Ames.
    Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. 2021. IEEE International Conference on Robotics and Automation (ICRA).
    31. .pdf .bib
  31. A. Singletary and S. Kolathaya and A. D. Ames.
    Safety-critical Kinematic Control of Robotic Systems. 2021. in American Control Conference (ACC).
    32. .pdf .bib
  32. K. Paigwar and L. Krishna and S. Tirumala and N. Khetan and A. Sagi and A. Joglekar and S. Bhatnagar and A. Ghosal and B. Amrutur and S. Kolathaya.
    Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach. 2020. in 4th Conference on Robot Learning (CoRL).
    33. .pdf .bib
  33. S. Gubbi and R. Upadrashta and S. Kolathaya and B. Amrutur.
    Multi-Instance Aware Localization for End-to-End Imitation Learning. 2020. in IEEE Interational Conference on Intelligent Robots ans Systems (IROS).
    34. .pdf .bib
  34. S. Gubbi and R. Upadrashta and S. Kolathaya and B. Amrutur.
    Teaching Robots Novel Objects by Pointing at Them . 2020. in 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).
    35. .pdf .bib
  35. S. Tirumala and S. Gubbi and K. Paigwar and A. Sagi and A. Joglekar and S. Bhatnagar and A. Ghosal and B. Amrutur and S. Kolathaya.
    Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations . 2020. in 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).
    36. .pdf .bib
  36. S. Kolathaya.
    PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry. 2020. in 2020 IEEE Conference on Decision and Control (CDC).
    37. .pdf .bib
  37. S. Gubbi and S. Kolathaya and B. Amrutur.
    Imitation Learning for High Precision Peg-in-hole Tasks. 2020. in 6th International Conference on Control, Automation and Robotics (ICCAR).
    38. .pdf .bib .video
  38. S. Kolathaya and S. Veer.
    PD based Robust Quadratic Programs for Robotic Systems. 2019. in 29th IEEE International Conference on Intelligent Robots and Systems (IROS).
    39. .pdf .bib .video
  39. S. Kolathaya and A. Joglekar and S. Shetty and D. Dholakiya and Abhimanyu and A. Sagi and S. Bhattacharya and A. Singla and S. Bhatnagar and A. Ghoshal and B. Amrutur.
    Trajectory based Deep Policy Search for Quadrupedal Walking. 2019. in 28th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN).
    40. .pdf .bib .video
  40. S. Bhattacharya and A. Singla and Abhimanyu and D. Dholakiya and S. Bhatnagar and B. Amrutur and A. Ghosal and S. Kolathaya.
    Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots. 2019. in 28th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN).
    41. .pdf .bib .video
  41. A. Singla and S. Bhattacharya and D. Dholakiya and S. Bhatnagar and A. Ghosal and B. Amrutur and S. Kolathaya.
    Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives. 2019. in IEEE International Conference on Robotics and Automation.
    42. .pdf .bib .video
  42. D. Dholakiya and S. Bhattacharya and A. Gunalan and A. Singla and S. Bhatnagar and B. Amrutur and A. Ghosal and S. Kolathaya.
    Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch . 2019. in IEEE International Conference on Control, Automation and Robotics. ISSN: 2251-2446
    43. .pdf .bib .video
  43. S. Kolathaya and A. D. Ames.
    Input-to-State Safety With Control Barrier Functions. 2018. in 2018 IEEE Conference on Decision and Control (CDC). pages 108-113.
    44. .pdf .bib
  44. S. Kolathaya and W. Guffey and R. W. Sinnet and A. D. Ames.
    Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. 2018. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3677-3684.
    45. .pdf .bib .video1 .video2
  45. S. Kolathaya and J. Reher and A. Hereid and A. D. Ames.
    Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. 2018. in 2018 American Control Conference (ACC), pages 2224-2230.
    46. .pdf .bib .video
  46. W.L. Ma and S. Kolathaya and E. Ambrose and C. Hubicki and A. D. Ames.
    Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. 2017. in Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, pages 265--274.
    47. .pdf .bib .video
  47. A. Hereid and S. Kolathaya and A. D. Ames.
    Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. 2016. in 2016 IEEE 55th Conference on Decision and Control (CDC), pages 6173-6179.
    48. .pdf .bib .video
  48. S. Kolathaya and A. Hereid and A. D. Ames.
    Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. 2016. in 2016 American Control Conference (ACC), pages 3916-3921.
    49. .pdf .bib .video
  49. S. Kolathaya and A. D. Ames.
    Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits.. 2015. IFAC-PapersOnLine, 48(27):377 - 382.
    50. .pdf .bib
  50. A. D. Ames and P. Tabuada and B. Schurmann and W. L. Ma and S. Kolathaya and M. Rungger and J. W. Grizzle.
    First Steps Toward Formal Controller Synthesis for Bipedal Robots. 2015. in Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control, pages 209--218.
    51. .pdf .bib
  51. S. Kolathaya and A. D. Ames.
    Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. 2014. in 2014 American Control Conference, pages 3710-3715.
    52. .pdf .bib
  52. W. L. Ma and H. H. Zhao and S. Kolathaya and A. D. Ames.
    Human-inspired walking via unified PD and impedance control. 2014. in 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 5088-5094.
    53. .pdf .bib .video
  53. A. Hereid and S. Kolathaya and M. S. Jones and J. Van Why and J. W. Hurst and A. D. Ames.
    Dynamic Multi-domain Bipedal Walking with Atrias Through SLIP Based Human-inspired Control. 2014. in Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control, pages 263--272.
    54. .pdf .bib .video
  54. H. Zhao and S. Kolathaya and A. D. Ames.
    Quadratic programming and impedance control for transfemoral prosthesis. 2014. in 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 1341-1347.
    55. .pdf .bib .video
  55. S. Kolathaya and A. D. Ames.
    Achieving Bipedal Locomotion on Rough Terrain through Human-Inspired Control. 2012. in 10th IEEE International Symposium on Safety Security and Rescue Robotics. College Station, Texas, USA.
    56. .pdf .bib .video
  56. S. N. Yadukumar Kolathaya and M. Pasupuleti and A. D. Ames.
    Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. 2012. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2478--2483.
    57. .pdf .bib .video
  57. Z. Huihua and S. N. Yadukumar Kolathaya and A. D. Ames.
    Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. 2012. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1821-1827.
    58. .pdf .bib .video
  58. S. N. Yadukumar Kolathaya and B. Kothapalli and A. D. Ames.
    Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. 2012. in 2012 American Control Conference (ACC), pages 2437-2442.
    59. .pdf .bib .video

Book chapters (peer reviewed)

  1. J. Reher and A. Hereid and S. Kolathaya and Christian Hubicki and A. D. Ames.
    Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. 2016. Chapter in Algorithmic Foundations of Robotics XII: Selected Contributions of the Twelfth International Workshop on the Algorithmic Foundations of Robotics, Springer International Publishing, Cham.
    2. .pdf .bib .video
  2. S. Kolathaya and W. L. Ma and A. D. Ames.
    Composing Dynamical Systems to Realize Dynamic Robotic Dancing. 2015. Chapter in Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics, Springer International Publishing, Cham.
    3. .pdf .bib .video
  3. S. N. Yadukumar Kolathaya and M. Pasupuleti and A. D. Ames.
    From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. 2013. Chapter in Algorithmic Foundations of Robotics X: Selected Contributions of the Tenth International Workshop on the Algorithmic Foundations of Robotics, Springer International Publishing, Cham.
    4. .pdf .bib .video

Theses

  1. Shishir Nadubettu Yadukumar. Input to State Stabilizing Control Lyapunov Functions for Hybrid Systems. 2016. Ph. D. thesis, Georgia Institute of Technology.
    2. .pdf .bib
  2. Shishir Nadubettu Yadukumar. Bipedal Robotic Walking on Flat-Ground, Up-Slope and Rough Terrain with Human-Inspired Hybrid Zero Dynamics. 2012. Master's thesis, Texas A&M University.
    3. .pdf .bib