Made significant changes in publications

Author: tayalmanan28

_data/people.yml

@@ -273,6 +273,10 @@ abhimanyu:
     display_name: "Abhimanyu"
     role: intern-alum
 
+kartik:
+    display_name: "Kartik Paigwar"
+    role: intern-alum
+
 ajay:
     display_name: "Ajay Gunalan"
     webpage: "https://ajaygunalan.github.io/"

_data/pubs.yml

@@ -1,115 +1,97 @@
 - title: "Design, development and experimental realization of a quadrupedal research platform :Stoch"
-  authors: [Dhaivat Dholakiya,  Shounak Bhattacharya,  Ajay Gunalan,  Abhik Singla,  Shalabh Bhatnagar,  Bharadwaj Amrutur,  Ashitava Ghosal,  Shishir Kolathaya]
+  authors: [dhaivat,  shounak,  ajay,  abhik,  shalabh,  bharadwaj,  ashitava,  shishir]
   date: 2019-08-09
   pub-type: conference
   publisher: "IEEE ICCAR 2019"
   pdf: Design.pdf
   venue: Beijing, China
-  projects: [quadruped]
+  projects: [stochdesign]
 
 - title: "Realizing learned quadruped locomotion behaviors through kinematic motion primitives"
-  authors: [ Abhik Singla,  Shounak Bhattacharya,   Dhaivat Dholakiya,  Shalabh Bhatnagar,  Ashitava Ghosal,  Bharadwaj Amrutur,  Shishir Kolathaya]
+  authors: [ abhik,  shounak,   dhaivat,  shalabh,  ashitava,  bharadwaj,  shishir]
   date: 2019-05-28
   pub-type: conference
-  publisher: ICRA 2019
+  publisher: "IEEE International Conference on Robotics and Automation (ICRA) 2019"
   pdf: Realizing learned.pdf
   venue: Montreal, Canada
-  projects: [ quadruped ]
+  projects: [stochdesign]
 
 - title: "Trajectory based deep policy search for quadrupedal walking"
-  authors: [Shishir Kolathaya, Ashish Joglekar,  Suhan Shetty,  Dhaivat Dholakiya,  Aditya Sagi,  Shounak Bhattacharya,  Abhik Singla,  Shalabh Bhatnagar,  Ashitava Ghosal,  Bharadwaj Amrutur]
+  authors: [shishir, Ashish Joglekar,  Suhan Shetty,  dhaivat,  aditya,  shounak,  abhik,  shalabh,  ashitava,  bharadwaj]
   date: 2019-10-13
   pub-type: conference
   publisher: "IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2019"
   pdf: "Trajectory based.pdf"
   venue: New Delhi, India
-  projects: [ quadruped ]
+  projects: [Trajectoryopt]
 
 
 - title: "Learning active spine behaviors for dynamic and efficient locomotion in quadruped robots"
-  authors: [Shounak Bhattacharya,  Abhik Singla,  Dhaivat Dholakiya,  Shalabh Bhatnagar,  Bharadwaj Amrutur,  Ashitava Ghosal,  Shishir Kolathaya]
+  authors: [shounak,  abhik,  dhaivat,  shalabh,  bharadwaj,  ashitava,  shishir]
   date: 2019-10-14
   pub-type: conference
   publisher: "IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)"
   pdf: Learning active.pdf
   venue: New Delhi, India
-  projects: [ quadruped ]
+  projects: [spine]
 
 
 
 - title: Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
-  authors: [Sashank Tirumala,  Sagar Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya]
+  authors: [sashank,  Sagar Gubbi, kartik, aditya, Ashish Joglekar, shalabh, ashitava, bharadwaj, shishir]
   date: 2020-07-28
   pub-type: conference
   publisher: "IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) 2020"
   venue: Naples, Italy
   pdf: Learning Stable.pdf
-  projects: [ quadruped ]
+  projects: [Augmented Random Search]
 
 
 - title: Gait Library Synthesis for Quadruped Robots via Augmented Random Search
-  authors: [Sashank Tirumala, Aditya Sagi, Kartik Paigwar, Ashish Joglekar,  Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir  Kolathaya]
+  authors: [sashank, aditya, kartik, Ashish Joglekar, shalabh, ashitava, bharadwaj, shishir]
   date: 2019-12-30
   pub-type: preprint
   publisher: arXiv
   pdf: Gait Library.pdf
-  projects: [ quadruped ]
+  projects: [Augmented Random Search]
 
 - title: Robust Quadrupedal Locomotion on Sloped Terrains - A Linear Policy Approach
-  authors: [Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya]
+  authors: [kartik, lokesh, sashank, Naman Khetan, aditya, Ashish Joglekar, shalabh, ashitava, bharadwaj, shishir]
   date: 2020-11-02
   pub-type: conference
-  publisher: "4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA."
+  publisher: "4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA"
   pdf: CORL_2020.pdf
-  projects: [ quadruped ]
+  projects: [slope]
 
 
 - title: Learning  Linear  Policies  for  Robust  Bipedal  Locomotionon  Terrains  with  Varying  Slopes
-  authors: [Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya]
+  authors: [lokesh, utkarsh, Guillermo A. Castillo, Ayonga Hereid, shishir]
   date: 2021-09-27
   pub-type: conference
-  publisher: IROS 2021
+  publisher: "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021"
   pdf: IROS_2021.pdf
   venue: Prague, Czech Republic
   projects: [LinearPolicyBiped]
 
-
-- title: Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
-  authors: [Lokesh Krishna*, Guillermo A. Castillo*, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya]
-  date: 2022-01-01
-  pub-type: journal
-  publisher: RA-Letters & ICRA 2022
-  pdf: LinearPolicySuff.pdf
-  projects: [LinearPolicyBiped]
-
-- title: Dynamic Mirror Descent based Model Predictive Control for Accelerated Robot Learning
-  authors: [Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, Shishir Kolathaya]
-  date: 2022-01-01
-  pub-type: conference
-  publisher: ICRA 2022
-  pdf: dmdmpc_icra2022.pdf
-  projects: [DynamicMirrorDescentRL]
-
-
 - title: Local Stability of PD Controlled Bipedal Walking Robots
-  authors: [Shishir Kolathaya]
+  authors: [shishir]
   date: 2020-04-01
   pub-type: journal
   publisher: "Automatica"
   pdf: kolathayapdbiped.pdf
   projects: [ theory ]
 
 - title: PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry
-  authors: [Shishir Kolathaya]
+  authors: [shishir]
   date: 2021-07-01
   pub-type: journal
-  publisher: "IEEE Control Systems Letters (L-CSS) & Conference on Decision and Control (CDC) 2020"
+  publisher: "IEEE Control Systems Letters (L-CSS) & Conference on Decision and Control (CDC) 2020, Jeju Island, South Korea"
   pdf: kolathaya_pd_tracking.pdf
   projects: [ theory ]
 
 
 - title: Inverse Kinematics Analysis of Cassie Robot using Radial Basis Function Networks
-  authors: [Mukund Mitra, Suman Raj, Shishir Kolathaya]
+  authors: [Mukund Mitra, Suman Raj, shishir]
   date: 2021-09-01
   pub-type: conference
   publisher: "IEEE International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation (IRIA) 2021"
@@ -118,82 +100,114 @@
 
 
 - title: Motion Planning With Dynamic Obstacles Using Convexified Control Barrier Functions
-  authors: [VP Varun, AP Vinod, S Kolathaya]
+  authors: [VP Varun, AP Vinod, shishir]
   date: 2021-12-01
   pub-type: conference
-  publisher: "IEEE Indian Control Conference (ICC) 2021"
+  publisher: "IEEE Indian Control Conference (ICC) 2021, Mumbai, India"
   pdf: convexified_cbf_icc2021.pdf
   projects: [ theory ]
 
 
 - title: Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion
-  authors: [Wen-Loong Ma, Noel Csomay-Shanklin, Shishir Kolathaya, Kaveh Akbari Hamed, Aaron D Ames]
+  authors: [Wen-Loong Ma, Noel Csomay-Shanklin, shishir, Kaveh Akbari Hamed, Aaron D Ames]
   date: 2021-05-01
   pub-type: journal
-  publisher: "RA Letters & ICRA 2021"
+  publisher: "RA Letters & IEEE International Conference on Robotics and Automation (ICRA) 2021, Xi'an, China"
   pdf: RAL21_CCS.pdf
   projects: [ quadruped ]
 
 - title: Safety-Critical Kinematic Control of Robotic Systems
-  authors: [Andrew Singletary, Shishir Kolathaya, and Aaron D. Ames]
+  authors: [Andrew Singletary, shishir, and Aaron D. Ames]
   date: 2021-01-01
   pub-type: journal
-  publisher: "L-CSS & ACC 2021"
+  publisher: "L-CSS & American Control Conference (ACC) 2021, Virtually"
   pdf: Safety_Critical_Kinematic_Control.pdf
   projects: [ theory ]
-  
+
+- title: Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
+  authors: [lokesh*, Guillermo A. Castillo*, utkarsh, Ayonga Hereid, shishir]
+  date: 2022-01-01
+  pub-type: journal
+  publisher: "RA-Letters & IEEE International Conference on Robotics and Automation (ICRA) 2022, Philadelphia, USA"
+  pdf: LinearPolicySuff.pdf
+  projects: [LinearPolicyBiped]
+
+- title: Dynamic Mirror Descent based Model Predictive Control for Accelerated Robot Learning
+  authors: [utkarsh, soumya, prakharg, cvk, himanshulodha, amansingh, aditya, shalabh, shishir]
+  date: 2022-01-01
+  pub-type: conference
+  publisher: "IEEE International Conference on Robotics and Automation (ICRA) 2022, Philadelphia, USA"
+  pdf: dmdmpc_icra2022.pdf
+  projects: [DynamicMirrorDescentRL]
+
 - title: Energy based Control Barrier functions for Robotic Manipulators with Large Safety Constraints
-  authors: [Yogita Choudhary, Shishir Kolathaya]
+  authors: [Yogita Choudhary, shishir]
   date: 2022-07-01
   pub-type: conference
   publisher: "European Controls Conference (ECC) 2022, London, UK"
   pdf: EnCBF_Manipulator_ECC_2022.pdf
-  projects: [ theory ]
+  projects: [EnergyCBF]
 
 - title: "Force Control for Robust Quadrupedal Locomotion: A Linear Policy Approach"
-  authors: [Aditya Shirwatkar* , Vamshi Kumar Kurva*, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, Shishir Kolathaya]
+  authors: [ashirwat* , vamshi*, devarajuvinoda, amansingh, aditya, himanshulodha, bhavya, shivamsood, Ketan Nehete, shishir]
   date: 2023-05-29
   pub-type: conference
   publisher: "IEEE International Conference on Robotics and Automation (ICRA) 2023, London, UK"
   pdf: force_lp_ICRA_2023.pdf
   projects: [LinPolForceControlQuad]
 
 - title: "Efficient Robot Hopping Mechanisms with Compliance Using Evolutionary Methods"
-  authors: [Pramod Pal, Anubhab Dasgupta, Avinash Bhashkar, Shishir Kolathaya, Ashitava Ghosal]
+  authors: [pramod, Anubhab Dasgupta, avinash, shishir, ashitava]
   date: 2023-06-14
   pub-type: conference
   publisher: "International Conference on Robotics in Alpe-Adria Danube Region, 2023, Bled, Slovenia"
-  pdf: 
+  pdf: https://link.springer.com/chapter/10.1007/978-3-031-32606-6_53
   projects: [ quadruped ]
 
+- title: "Optimum Design of a Compliant Foot for a Quadruped"
+  authors: [pramod, Anubhab Dasgupta, shishir, ashitava]
+  date: 2023-07-05
+  pub-type: conference
+  publisher: "6th International Conference of Advances In Robotics (AIR) 2023"
+  pdf: https://dl.acm.org/doi/pdf/10.1145/3610419.3610448
+  projects: [quadruped]
+
+- title: "Realizing Linear Controllers for Quadruped Robots on Planetary"
+  authors: [ashirwat, Shamrao Garur, Vinod Kumar, shishir]
+  date: 2023-07-05
+  pub-type: conference
+  publisher: "6th International Conference of Advances In Robotics (AIR) 2023"
+  pdf: https://dl.acm.org/doi/pdf/10.1145/3610419.3610572
+  projects: [quadruped]
+
 - title: "Off-Policy Average Reward Actor-Critic with Deterministic Policy Search"
-  authors: [Naman Saxena ,Subhojyoti Khastagir, Shishir Kolathaya, Shalabh Bhatnagar]
+  authors: [namansaxena, subho, shishir, shalabh]
   date: 2023-07-25
   pub-type: conference
   publisher: "International Conference on Machine Learning (ICML) 2023, Hawaii, US"
   pdf: Average_Reward_ICML_2023.pdf
   projects: [AverageRewardRL]
 
 - title: "MELP: Model Embedded Linear Policies for Robust Bipedal Hopping"
-  authors: [Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya]
+  authors: [raghav, Guillermo A. Castillo, lokesh, Ayonga Hereid, shishir]
   date: 2023-10-01
   pub-type: conference
-  publisher: "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023, Detroit, US"
-  pdf: 
+  publisher: "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023, Detroit, USA"
+  pdf: melp.pdf
   projects: [LinearPolicyBiped]
 
 - title: "Formation control of differential-drive robots with input saturation and constraints on formation size"
-  authors: [Ayush Agrawal, Mukunda Bharatheesha, Shishir Kolathaya]
+  authors: [Ayush Agrawal, Mukunda Bharatheesha, shishir]
   date: 2023-12-13
   pub-type: conference
   publisher: "IEEE Conference on Decision and Control (CDC) 2023, Singapore"
-  pdf: 
+  pdf: formation_control.pdf
   projects: [ theory ]
 
 - title: "Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs"
-  authors: [Phani Thontepu*, Bhavya Giri Goswami*, manan, Neelaksh Singh, Shyam Sundar P I, Shyam Sundar M G, Suresh Sundaram, Vaibhav Katewa, shishir]
+  authors: [phani*, bhavya*, manan, Neelaksh Singh, Shyam Sundar P I, Shyam Sundar M G, Suresh Sundaram, Vaibhav Katewa, shishir]
   date: 2023-12-18
   pub-type: conference
   publisher: "Indian Control Conference (ICC) 2023, Vishakhapatnam, India"
-  pdf: 
+  pdf: c3bf_icc.pdf
   projects: [CollisionConeCBF]

_projects/EnergyCBF.md

@@ -0,0 +1,16 @@
+---
+title: Energy Based Control Barrier Functions
+
+description: |
+  A new class of CBFs for robotic systems that augment kinetic energy with the traditional forms.
+  
+people:
+  - yogita
+  - shishir
+
+layout: project
+image: "/img/c3bf.png"
+last-updated: 2022-07-28
+---
+### Introduction 
+Control barrier function (CBF) based Quadratic Programs (QPs) were introduced in early 2014 as a means to guarantee safety in affine control systems in conjunction with stability/tracking. However, due to the presence of model-based terms, they fail to provide guarantees under model perturbations. Therefore, in this paper, we propose a new class of CBFs for robotic systems that augment kinetic energy with the traditional forms. We show that with torque limits permitting, and with the kinematic models accurately known, forward invariance of safe sets generated by kinematic constraints (position and velocity) can be guaranteed. The proposed methodology is motivated by the control Lyapunov function (CLF) based QPs that use the kinetic energy function. By the property of CBF-QPs, we show that the pointwise min-norm control laws obtained are feasible and Lipschitz continuous, and can be derived analytically via the KKT conditions. In order to include stability with safety, we also augment CLF based constraints in the CBF-QPs to realize a unified control law that allows tracking with safety irrespective of the inertial parameters of the robot. We will demonstrate the robustness of this class of CBF-QPs in two robotic platforms: a 1-DOF and a 2-DOF manipulator, by scaling the masses by up to 100, and then simulating the resulting dynamics.