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ORCIDShishir Kolathaya
Shishir N. Y. Kolathaya – Shishir Nadubettu Yadukumar
Person information
- affiliation: Indian Institute of Science (IISc) Bengaluru, Robert Bosch Centre for Cyber Physical Systems, India
- affiliation: California Institute of Technology, Pasadena, CA, USA
- affiliation (PhD 2016): Georgia Institute of Technology, School of Mechan-ical Engineering, Atlanta, GA, USA
- affiliation: Texas A&M University, Department of Mechanical Engineering, College Station, TX, USA
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2020 – today
- 2024
[c42]Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap, Shishir Kolathaya:
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance. ACC 2024: 325-331- [c41]Manan Tayal, Rajpal Singh, Jishnu Keshavan, Shishir Kolathaya:
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. ACC 2024: 3722-3727 - [c40]Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya, K. Madhava Krishna, Sourav Garg:
Revisit Anything: Visual Place Recognition via Image Segment Retrieval. ECCV (68) 2024: 326-343 - [c39]Manan Tayal, Shishir Kolathaya:
Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments. ECC 2024: 2212-2217 - [c38]Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap, Shishir Kolathaya:
Barrier Functions Inspired Reward Shaping for Reinforcement Learning. ICRA 2024: 10807-10813 - [i34]Nilaksh Nilaksh, Abhishek Ranjan, Shreenabh Agrawal, Aayush Jain, Pushpak Jagtap, Shishir Kolathaya:
Barrier Functions Inspired Reward Shaping for Reinforcement Learning. CoRR abs/2403.01410 (2024) - [i33]Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh
, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, Shishir Kolathaya:
A Collision Cone Approach for Control Barrier Functions. CoRR abs/2403.07043 (2024) - [i32]Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, Shishir Kolathaya:
Learning a Formally Verified Control Barrier Function in Stochastic Environment. CoRR abs/2403.19332 (2024) - [i31]GVS Mothish, Manan Tayal, Shishir Kolathaya:
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains. CoRR abs/2407.05424 (2024) - [i30]Aryan Agarwal, Ravi Agrawal, Manan Tayal, Pushpak Jagtap, Shishir Kolathaya:
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions. CoRR abs/2407.19335 (2024) - [i29]Aditya Shirwatkar, Naman Saxena, Kishore Chandra, Shishir Kolathaya:
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion. CoRR abs/2409.09441 (2024) - [i28]Manan Tayal, Aditya Singh, Pushpak Jagtap, Shishir Kolathaya:
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates. CoRR abs/2409.12616 (2024) - [i27]Vishnu Joshi, Suraj Kumar, Nithin V, Shishir Kolathaya:
Discrete time model predictive control for humanoid walking with step adjustment. CoRR abs/2410.06790 (2024) - 2023
- [c37]Pramod Pal, Anubhab Dasgupta, Shishir N. Y. Kolathaya, Ashitava Ghosal:
Optimum Design of a Compliant Foot for a Quadruped. AIR 2023: 29:1-29:7 - [c36]Aditya Shirwatkar, Somnath Sendhil Kumar, Shamrao Garur, Vinod Kumar, Shishir N. Y. Kolathaya:
Realizing Linear Controllers for Quadruped Robots on Planetary Terrains. AIR 2023: 33:1-33:6 - [c35]Ayush Agrawal, Mukunda Bharatheesha, Shishir Kolathaya:
Formation Control of Differential-Drive Robots with Input Saturation and Constraint on Formation Size. CDC 2023: 8620-8627 - [c34]Naman Saxena, Subhojyoti Khastagir, Shishir Kolathaya, Shalabh Bhatnagar:
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search. ICML 2023: 30130-30203 - [c33]Aditya Shirwatkar, Vamshi Kumar Kurva, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, Shishir Kolathaya:
Force control for Robust Quadruped Locomotion: A Linear Policy Approach. ICRA 2023: 5113-5119 - [c32]Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya:
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. IROS 2023: 10418-10424 - [c31]Eshwar S. R, Shishir Kolathaya, Gugan Thoppe:
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking. VALUETOOLS 2023: 33-50 - [i26]Manan Tayal, Shishir Kolathaya:
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. CoRR abs/2303.15871 (2023) - [i25]Naman Saxena, Subhojyoti Khastagir, Shishir Kolathaya, Shalabh Bhatnagar:
Off-Policy Average Reward Actor-Critic with Deterministic Policy Search. CoRR abs/2305.12239 (2023) - [i24]Manan Tayal, Shishir Kolathaya:
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs). CoRR abs/2309.01898 (2023) - [i23]Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal, Pushpak Jagtap, Shishir Kolathaya:
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance. CoRR abs/2310.10839 (2023) - [i22]Manan Tayal, Shishir Kolathaya:
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments. CoRR abs/2311.08787 (2023) - [i21]GVS Mothish, Karthik Rajgopal, Ravi Kola, Manan Tayal, Shishir Kolathaya:
Stoch BiRo: Design and Control of a low cost bipedal robot. CoRR abs/2312.06512 (2023) - 2022
- [j7]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. IEEE Control. Syst. Lett. 6: 139-144 (2022) - [j6]Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya:
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. IEEE Robotics Autom. Lett. 7(2): 2047-2054 (2022) - [c30]Yogita Choudhary, Shishir Kolathaya:
Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints. ECC 2022: 1328-1335 - [c29]Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya:
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning. ICRA 2022: 1631-1637 - [i20]Eshwar S. R, Shishir Kolathaya, Gugan Thoppe:
Improving Sample Efficiency in Evolutionary RL Using Off-Policy Ranking. CoRR abs/2208.10583 (2022) - [i19]Phani Thontepu, Bhavya Giri Goswami, Neelaksh Singh, Shyamsundar P. I, Shyam Sundar M. G, Suresh Sundaram, Vaibhav Katewa, Shishir Kolathaya:
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach. CoRR abs/2209.11524 (2022) - 2021
- [j5]Shishir Kolathaya:
PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry. IEEE Control. Syst. Lett. 5(3): 809-814 (2021) - [j4]Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D. Ames:
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion. IEEE Robotics Autom. Lett. 6(2): 3761-3768 (2021) - [c28]Kumar Ankit, Shishir N. Y. Kolathaya, Debasish Ghose:
Multi-Agent Collaborative Framework for Automated Agriculture. ACOMP 2021: 30-37 - [c27]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. ACC 2021: 14-19 - [c26]Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya:
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. IROS 2021: 5159-5164 - [i18]Sagar Venkatesh Gubbi, Shishir Kolathaya, Bharadwaj Amrutur:
Imitation Learning for High Precision Peg-in-Hole Tasks. CoRR abs/2101.01052 (2021) - [i17]Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur:
Multi-Instance Aware Localization for End-to-End Imitation Learning. CoRR abs/2101.01053 (2021) - [i16]Sagar Gubbi Venkatesh, Nihesh Rathod, Shishir Kolathaya, Bharadwaj Amrutur:
Stochastic Action Prediction for Imitation Learning. CoRR abs/2101.01055 (2021) - [i15]Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya:
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. CoRR abs/2104.01662 (2021) - [i14]Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya:
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. CoRR abs/2109.12665 (2021) - [i13]Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya:
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning. CoRR abs/2112.02999 (2021) - 2020
- [j3]Shishir Kolathaya:
Local stability of PD controlled bipedal walking robots. Autom. 114: 108841 (2020) - [c25]Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Varma, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach. CoRL 2020: 2257-2267 - [c24]Sagar Gubbi Venkatesh, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur:
Multi-Instance Aware Localization for End-to-End Imitation Learning. IROS 2020: 5225-5230 - [c23]Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur:
Teaching Robots Novel Objects by Pointing at Them. RO-MAN 2020: 1101-1106 - [c22]Sashank Tirumala, Sagar Venkatesh Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations. RO-MAN 2020: 1107-1112 - [i12]Shishir Kolathaya:
Local Stability of PD Controlled Bipedal Walking Robots. CoRR abs/2001.00145 (2020) - [i11]Sashank Tirumala, Sagar Venkatesh Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations. CoRR abs/2007.14290 (2020) - [i10]Andrew Singletary, Shishir Kolathaya, Aaron D. Ames:
Safety-Critical Kinematic Control of Robotic Systems. CoRR abs/2009.09100 (2020) - [i9]Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach. CoRR abs/2010.16342 (2020) - [i8]Sagar Venkatesh Gubbi, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur:
Teaching Robots Novel Objects by Pointing at Them. CoRR abs/2012.13620 (2020)
2010 – 2019
- 2019
- [j2]Shishir Kolathaya, Aaron D. Ames:
Input-to-State Safety With Control Barrier Functions. IEEE Control. Syst. Lett. 3(1): 108-113 (2019) - [c21]Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives. ICRA 2019: 7434-7440 - [c20]Shishir Kolathaya, Sushant Veer:
PD based Robust Quadratic Programs for Robotic Systems. IROS 2019: 6834-6841 - [c19]Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya:
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots. RO-MAN 2019: 1-6 - [c18]Shishir Kolathaya, Ashitava Ghosal, Bharadwaj Amrutur, Ashish Joglekar, Suhan Shetty, Dhaivat Dholakiya, Abhimanyu, Aditya Sagi, Shounak Bhattacharya, Abhik Singla, Shalabh Bhatnagar:
Trajectory based Deep Policy Search for Quadrupedal Walking. RO-MAN 2019: 1-6 - [i7]Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan, Abhik Singla, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya:
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch. CoRR abs/1901.00697 (2019) - [i6]Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya:
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots. CoRR abs/1905.06077 (2019) - [i5]Sashank Tirumala, Aditya Sagi, Kartik Paigwar, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Gait Library Synthesis for Quadruped Robots via Augmented Random Search. CoRR abs/1912.12907 (2019) - 2018
- [j1]Shishir Kolathaya, William Guffey, Ryan W. Sinnet, Aaron D. Ames:
Direct Collocation for Dynamic Behaviors With Nonprehensile Contacts: Application to Flipping Burgers. IEEE Robotics Autom. Lett. 3(4): 3677-3684 (2018) - [c17]Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames:
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC 2018: 2224-2230 - [i4]Shishir Kolathaya, Jacob Reher, Aaron D. Ames:
Input to State Stability of Bipedal Walking Robots: Application to DURUS. CoRR abs/1801.00618 (2018) - [i3]Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya:
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives. CoRR abs/1810.03842 (2018) - 2017
- [c16]Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, Aaron D. Ames:
Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. HSCC 2017: 265-274 - [i2]Shishir Kolathaya:
Phase Uncertainty to State Stability of Continuous Periodic Orbits. CoRR abs/1707.02258 (2017) - 2016
- [c15]Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames:
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC 2016: 3916-3921 - [c14]Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames:
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC 2016: 6173-6179 - [c13]Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames:
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR 2016: 400-415 - [i1]Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet, Aaron D. Ames:
System Identification and Control through Efficient SVA Based Regressor Computation. CoRR abs/1608.02683 (2016) - 2015
- [c12]Shishir Kolathaya, Aaron D. Ames:
Parameter Sensitivity and Boundedness of Robotic Hybrid Periodic Orbits. ADHS 2015: 377-382 - [c11]Aaron D. Ames, Paulo Tabuada, Bastian Schürmann, Wen-Loong Ma, Shishir Kolathaya, Matthias Rungger, Jessy W. Grizzle:
First steps toward formal controller synthesis for bipedal robots. HSCC 2015: 209-218 - 2014
- [c10]Shishir Kolathaya, Aaron D. Ames:
Exponential convergence of a unified CLF controller for robotic systems under parameter uncertainty. ACC 2014: 3710-3715 - [c9]Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames:
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC 2014: 263-272 - [c8]Huihua Zhao, Shishir Kolathaya, Aaron D. Ames:
Quadratic programming and impedance control for transfemoral prosthesis. ICRA 2014: 1341-1347 - [c7]Wen-Loong Ma, Huihua Zhao, Shishir Kolathaya, Aaron D. Ames:
Human-inspired walking via unified PD and impedance control. ICRA 2014: 5088-5094 - [c6]Shishir Kolathaya, Wen-Loong Ma, Aaron D. Ames:
Composing Dynamical Systems to Realize Dynamic Robotic Dancing. WAFR 2014: 425-442 - 2012
- [c5]Shishir Nadubettu Yadukumar, Bhargav Kothapalli, Aaron D. Ames:
Zeno behavior in electromechanical hybrid systems: From theory to experimental validation. ACC 2012: 2437-2442 - [c4]Huihua Zhao, Shishir Nadubettu Yadukumar, Aaron D. Ames:
Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization. IROS 2012: 1821-1827 - [c3]Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames:
Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain. IROS 2012: 2478-2483 - [c2]Shishir Kolathaya, Aaron D. Ames:
Achieving bipedal locomotion on rough terrain through human-inspired control. SSRR 2012: 1-6 - [c1]Shishir Nadubettu Yadukumar, Murali Pasupuleti, Aaron D. Ames:
From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. WAFR 2012: 511-526
Coauthor Index
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