Publications


  1. Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots. Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021. pdf Video arXiv
    @conference{ ICRA2021_RL-Cassie-Walking,
    author={ Zhongyu Li and Xuxin Cheng and Xue Bin Peng and Pieter Abbeel and Sergey Levine and Glen Berseth and Koushil Sreenath },
    title={ Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ June },
    year={ 2021 },
    address={ Xi'an, China },
    }
  2. Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction. Anxing Xiao*, Wenzhe Tong*, Lizhi Yang*, Jun Zeng, Zhongyu Li, and Koushil Sreenath. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021. pdf Video arXiv
    @conference{ ICRA2021_GuideDog,
    author={ Anxing Xiao* and Wenzhe Tong* and Lizhi Yang* and Jun Zeng and Zhongyu Li and Koushil Sreenath },
    title={ Robotic Guide Dog: Leading a Human with Leash-Guided Hybrid Physical Interaction },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ June },
    year={ 2021 },
    address={ Xi'an, China },
    }
  3. Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. Sangli Teng, Mark Wilfried Mueller, and Koushil Sreenath. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021. pdf Video arXiv
    @conference{ ICRA2021_InEKF-Cassie-Slip-Estimation,
    author={ Sangli Teng and Mark Wilfried Mueller and Koushil Sreenath },
    title={ Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ June },
    year={ 2021 },
    address={ Xi'an, China },
    }
  4. Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard. Jonathan Anglingdarma, Ayush Agrawal, Joshua Morey, and Koushil Sreenath. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021. pdf Video
    @conference{ ICRA2021_Cassie-Snakeboard,
    author={ Jonathan Anglingdarma and Ayush Agrawal and Joshua Morey and Koushil Sreenath },
    title={ Motion Planning and Feedback Control for Bipedal Robots Riding a Snakeboard },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ June },
    year={ 2021 },
    address={ Xi'an, China },
    }
  5. Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability. Sylvia Herbert*, Jason J. Choi*, Suvansh Qazi, Marsalis Gibson, Koushil Sreenath, and Claire J. Tomlin. IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021. pdf arXiv
    @conference{ ICRA2021_Scalable-Learning-HJB,
    author={ Sylvia Herbert* and Jason J. Choi* and Suvansh Qazi and Marsalis Gibson and Koushil Sreenath and Claire J. Tomlin },
    title={ Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ June },
    year={ 2021 },
    address={ Xi'an, China },
    }
  6. Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics. Fernando Castañeda*, Jason Choi*, Bike Zhang, Claire J. Tomlin, and Koushil Sreenath. American Control Conference (ACC), New Orleans, LA, May 2021. pdf arXiv
    @conference{ ACC2021_GP-CLF-SOCP,
    author={ Fernando Castañeda* and Jason Choi* and Bike Zhang and Claire J. Tomlin and Koushil Sreenath },
    title={ Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects and Dynamics },
    booktitle={ American Control Conference (ACC) },
    pages={ },
    month={ May },
    year={ 2021 },
    address={ New Orleans, LA },
    }
  7. Safety-Critical Control with Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility. Jun Zeng, Bike Zhang, Zhongyu Li, and Koushil Sreenath. American Control Conference (ACC), New Orleans, LA, May 2021. pdf arXiv GitHub
    @conference{ ACC2021_CBF-Pointwise-Feasibility,
    author={ Jun Zeng and Bike Zhang and Zhongyu Li and Koushil Sreenath },
    title={ Safety-Critical Control with Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility },
    booktitle={ American Control Conference (ACC) },
    pages={ },
    month={ May },
    year={ 2021 },
    address={ New Orleans, LA },
    }
  8. Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change. Suiyi He, Jun Zeng, Bike Zhang, and Koushil Sreenath. American Control Conference (ACC), New Orleans, LA, May 2021. pdf GitHub
    @conference{ ACC2021_Lane-Change-CBF,
    author={ Suiyi He and Jun Zeng and Bike Zhang and Koushil Sreenath },
    title={ Rule-Based Safety-Critical Control Design using Control Barrier Functions with Application to Autonomous Lane Change },
    booktitle={ American Control Conference (ACC) },
    pages={ },
    month={ May },
    year={ 2021 },
    address={ New Orleans, LA },
    }
  9. Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function. Jun Zeng*, Bike Zhang*, and Koushil Sreenath. American Control Conference (ACC), New Orleans, LA, May 2021. pdf arXiv GitHub
    @conference{ ACC2021_MPC_CBF,
    author={ Jun Zeng* and Bike Zhang* and Koushil Sreenath },
    title={ Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function },
    booktitle={ American Control Conference (ACC) },
    pages={ },
    month={ May },
    year={ 2021 },
    address={ New Orleans, LA },
    }
  10. Robust Safety-Critical Control for Dynamic Robotics. Quan Nguyen and Koushil Sreenath. IEEE Transactions on Automatic Control (TAC), February 2021. pdf Video arXiv
    @article{ TAC2021_RobustCBFCLF,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Robust Safety-Critical Control for Dynamic Robotics },
    journal={ IEEE Transactions on Automatic Control (TAC) },
    volume={ },
    number={ },
    pages={ },
    month={ February },
    year={ 2021 },
    }
  11. Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics. Tyler Westenbroek*, Fernando Castañeda*, Ayush Agrawal, S. Shankar Sastry, and Koushil Sreenath. IEEE Conference on Decision and Control (CDC), December 2020. pdf arXiv
    @conference{ CDC2020_RL-Min-Norm,
    author={ Tyler Westenbroek* and Fernando Castañeda* and Ayush Agrawal and S. Shankar Sastry and Koushil Sreenath },
    title={ Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics },
    booktitle={ IEEE Conference on Decision and Control (CDC) },
    pages={ },
    month={ December },
    year={ 2020 },
    address={ },
    }
  12. Animated Cassie: A Dynamic Relatable Robotic Character. Zhongyu Li, Christine Cummings, and Koushil Sreenath. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear October 2020. Best Entertainment and Amusement Paper Finalist. pdf Video
    @conference{ IROS2020_AnimatedCassie,
    author={ Zhongyu Li and Christine Cummings and Koushil Sreenath },
    title={ Animated Cassie: A Dynamic Relatable Robotic Character },
    booktitle={ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) },
    pages={ },
    month={ to appear October },
    year={ 2020 },
    address={ },
    }
  13. Dynamic Legged Manipulation of a Ball by Mini Cheetah Through Multi-Contact Optimization. Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, and Koushil Sreenath. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear October 2020. pdf Video arXiv
    @conference{ IROS2020_Ball_LocoManipulation,
    author={ Chenyu Yang and Bike Zhang and Jun Zeng and Ayush Agrawal and Koushil Sreenath },
    title={ Dynamic Legged Manipulation of a Ball by Mini Cheetah Through Multi-Contact Optimization },
    booktitle={ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) },
    pages={ },
    month={ to appear October },
    year={ 2020 },
    address={ },
    }
  14. Staging energy sources to extend flight time of a multirotor UAV. Karan P. Jain, Jerry Tang, Koushil Sreenath, and Mark W. Mueller. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to appear October 2020. pdf Video arXiv
    @conference{ IROS2020_StagingEnergyforUAVs,
    author={ Karan P. Jain and Jerry Tang and Koushil Sreenath and Mark W. Mueller },
    title={ Staging energy sources to extend flight time of a multirotor UAV },
    booktitle={ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) },
    pages={ },
    month={ to appear October },
    year={ 2020 },
    address={ },
    }
  15. Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions. Jason Choi*, Fernando Castañeda*, Claire J. Tomlin, and Koushil Sreenath. Robotics: Science and Systems (RSS), July 2020. pdf arXiv
    @conference{ RSS2020_RL-CBF-CLF,
    author={ Jason Choi* and Fernando Castañeda* and Claire J. Tomlin and Koushil Sreenath },
    title={ Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions },
    booktitle={ Robotics: Science and Systems (RSS) },
    pages={ },
    month={ July },
    year={ 2020 },
    address={ },
    }
  16. Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control. Prasanth Kotaru and Koushil Sreenath. International Federation of Automatic Control World Congress (IFAC), July 2020. pdf Video arXiv GitHub
    @conference{ IFAC2020_AerialFlexibleHose,
    author={ Prasanth Kotaru and Koushil Sreenath },
    title={ Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control },
    booktitle={ International Federation of Automatic Control World Congress (IFAC) },
    pages={ },
    month={ July },
    year={ 2020 },
    address={ },
    }
  17. Nonlinear Control using Coordinate-free and Euler Formulations: An Empirical Evaluation on a 3D Pendulum. Avinash Siravuru and Koushil Sreenath. International Federation of Automatic Control World Congress (IFAC), July 2020. pdf
    @conference{ IFAC2020_3DPendulumControl,
    author={ Avinash Siravuru and Koushil Sreenath },
    title={ Nonlinear Control using Coordinate-free and Euler Formulations: An Empirical Evaluation on a 3D Pendulum },
    booktitle={ International Federation of Automatic Control World Congress (IFAC) },
    pages={ },
    month={ July },
    year={ 2020 },
    address={ },
    }
  18. Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning. Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Claire J. Tomlin, S. Shankar Sastry, and Koushil Sreenath. Learning for Dynamics and Control (L4DC), Berkeley, CA, June 2020. pdf arXiv
    @conference{ L4DC2020_RLIO_BipedalRobots,
    author={ Fernando Castañeda and Mathias Wulfman and Ayush Agrawal and Tyler Westenbroek and Claire J. Tomlin and S. Shankar Sastry and Koushil Sreenath },
    title={ Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning },
    booktitle={ Learning for Dynamics and Control (L4DC) },
    pages={ },
    month={ June },
    year={ 2020 },
    address={ Berkeley, CA },
    }
  19. Ball Juggling on the Bipedal Robot Cassie. Katherine L. Poggensee*, Albert H. Li*, Daniel Sotsaikich*, Bike Zhang, Prasanth Kotaru, Mark Mueller, and Koushil Sreenath. European Control Conference (ECC), May 2020. pdf Video
    @conference{ ECC2020_CassieJuggling,
    author={ Katherine L. Poggensee* and Albert H. Li* and Daniel Sotsaikich* and Bike Zhang and Prasanth Kotaru and Mark Mueller and Koushil Sreenath },
    title={ Ball Juggling on the Bipedal Robot Cassie },
    booktitle={ European Control Conference (ECC) },
    pages={ },
    month={ May },
    year={ 2020 },
    address={ },
    }
  20. Differential Flatness based Path Planning with Direct Collocation on Hybrid Modes for a Quadrotor with a Cable-Suspended Payload. Jun Zeng, Prasanth Kotaru, Mark Mueller, and Koushil Sreenath. IEEE Robotics and Automation Letters (RA-L), 5(2):3074--3081, February 2020. pdf Video
    @article{ RAL2020_PPQL,
    author={ Jun Zeng and Prasanth Kotaru and Mark Mueller and Koushil Sreenath },
    title={ Differential Flatness based Path Planning with Direct Collocation on Hybrid Modes for a Quadrotor with a Cable-Suspended Payload },
    journal={ IEEE Robotics and Automation Letters (RA-L) },
    volume={ 5 },
    number={ 2 },
    pages={ 3074--3081 },
    month={ February },
    year={ 2020 },
    }
  21. Geometric $L_1$ Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle. Prasanth Kotaru, Ryan Edmonson, and Koushil Sreenath. ASME Journal of Dynamic Systems, Measurement, and Control, 142(3), March 2020. pdf Video arXiv
    @article{ JDSMC2020_GeometricL1,
    author={ Prasanth Kotaru and Ryan Edmonson and Koushil Sreenath },
    title={ Geometric $L_1$ Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle },
    journal={ ASME Journal of Dynamic Systems, Measurement, and Control },
    volume={ 142 },
    number={ 3 },
    pages={ },
    month={ March },
    year={ 2020 },
    }
  22. Geometric Control and Learning for Dynamic Legged Robots. Avinash Siravuru PhD Thesis, Carnegie Mellon University, Pittsburgh, PA, December 2019. pdf
    @phdthesis{ Dissertation2019_Avinash_Siravuru, }
  23. Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot. Shuxiao Chen*, Jonathan Rogers*, Bike Zhang*, and Koushil Sreenath. IEEE International Conference on Humanoid Robots (Humanoids), pages 375--382, Tornoto, Canada, October 2019. pdf Video arXiv
    @conference{ Humanoids2019_CassieHovershoes,
    author={ Shuxiao Chen* and Jonathan Rogers* and Bike Zhang* and Koushil Sreenath },
    title={ Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot },
    booktitle={ IEEE International Conference on Humanoid Robots (Humanoids) },
    pages={ 375--382 },
    month={ October },
    year={ 2019 },
    address={ Tornoto, Canada },
    }
  24. Efficient Teleoperation of Mobile Robots via Online Adaptation. Nathan Michael, Xuning Yang, and Koushil Sreenath. US Patent App. (US20190271979A1), Carnegie Mellon University., September 2019.
    @misc{ EfficientTeleop2019, }
  25. Control Barrier Functions: Theory and Applications. Aaron D. Ames, Samuel Coogan, Magnus Egerstedt, Gennaro Notomista, Koushil Sreenath, and Paulo Tabuada. European Control Conference (ECC), pages 3420--3431, Naples, Italy, June 2019. pdf arXiv
    @conference{ ECC2019_Tutorial_CBFs,
    author={ Aaron D. Ames and Samuel Coogan and Magnus Egerstedt and Gennaro Notomista and Koushil Sreenath and Paulo Tabuada },
    title={ Control Barrier Functions: Theory and Applications },
    booktitle={ European Control Conference (ECC) },
    pages={ 3420--3431 },
    month={ June },
    year={ 2019 },
    address={ Naples, Italy },
    }
  26. Bipedal Robotic Running on Stochastic Discrete Terrain. Ayush Agrawal and Koushil Sreenath. European Control Conference (ECC), pages 3564--3570, Naples, Italy, June 2019. pdf
    @conference{ ECC2019_Running_on_SteppingStones,
    author={ Ayush Agrawal and Koushil Sreenath },
    title={ Bipedal Robotic Running on Stochastic Discrete Terrain },
    booktitle={ European Control Conference (ECC) },
    pages={ 3564--3570 },
    month={ June },
    year={ 2019 },
    address={ Naples, Italy },
    }
  27. Variation Based Extended Kalman Filter on $S^2$. Prasanth Kotaru and Koushil Sreenath. European Control Conference (ECC), pages 875--882, Naples, Italy, June 2019. pdf
    @conference{ ECC2019_VariationEKF_S2,
    author={ Prasanth Kotaru and Koushil Sreenath },
    title={ Variation Based Extended Kalman Filter on $S^2$ },
    booktitle={ European Control Conference (ECC) },
    pages={ 875--882 },
    month={ June },
    year={ 2019 },
    address={ Naples, Italy },
    }
  28. Geometric Control of a Quadrotor with a Load Suspended through from an Offset. Jun Zeng and Koushil Sreenath. American Control Conference (ACC), 2019. pdf
    @conference{ ACC2019_QuadLoad_Offset,
    author={ Jun Zeng and Koushil Sreenath },
    title={ Geometric Control of a Quadrotor with a Load Suspended through from an Offset },
    booktitle={ American Control Conference (ACC) },
    pages={ },
    month={ },
    year={ 2019 },
    address={ },
    }
  29. Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley. Jun Zeng, Prasanth Kotaru, and Koushil Sreenath. American Control Conference (ACC), 2019. pdf
    @conference{ ACC2019_QuadLoad_Pulley,
    author={ Jun Zeng and Prasanth Kotaru and Koushil Sreenath },
    title={ Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley },
    booktitle={ American Control Conference (ACC) },
    pages={ },
    month={ },
    year={ 2019 },
    address={ },
    }
  30. Controlling the Locomotion of Spherical Robots or why BB-8 Works. Prithvi Akella, Oliver O'Reilly, and Koushil Sreenath. ASME Journal of Mechanisms and Robotics, 11(2):024501, April 2019. pdf
    @article{ JMR2019_Spherical_Robot_Locomotion,
    author={ Prithvi Akella and Oliver O'Reilly and Koushil Sreenath },
    title={ Controlling the Locomotion of Spherical Robots or why BB-8 Works },
    journal={ ASME Journal of Mechanisms and Robotics },
    volume={ 11 },
    number={ 2 },
    pages={ 024501 },
    month={ April },
    year={ 2019 },
    }
  31. Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, and Jessy Grizzle. IEEE Control Systems Magazine (CSM), 38(6):61--87, December 2018. pdf arXiv
    @article{ CSM2018_Exoskeleton_Walking,
    author={ Omar Harib and Ayonga Hereid and Ayush Agrawal and Thomas Gurriet and Sylvain Finet and Guilhem Boeris and Alexis Duburcq and M. Eva Mungai and Matthieu Masselin and Aaron D. Ames and Koushil Sreenath and Jessy Grizzle },
    title={ Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking },
    journal={ IEEE Control Systems Magazine (CSM) },
    volume={ 38 },
    number={ 6 },
    pages={ 61--87 },
    month={ December },
    year={ 2018 },
    }
  32. Dynamic Bipedal Locomotion over Stochastic Discrete Terrain. Quan Nguyen, Ayush Agrawal, William Martin, Hartmut Geyer, and Koushil Sreenath. International Journal of Robotics Research (IJRR):1--17, August 2018. pdf Video
    @article{ IJRR2018_ATRIAS_StochasticTerrainWalking,
    author={ Quan Nguyen and Ayush Agrawal and William Martin and Hartmut Geyer and Koushil Sreenath },
    title={ Dynamic Bipedal Locomotion over Stochastic Discrete Terrain },
    journal={ International Journal of Robotics Research (IJRR) },
    volume={ },
    number={ },
    pages={ 1--17 },
    month={ August },
    year={ 2018 },
    }
  33. Safe Teleoperation of Dynamic UAVs through Control Barrier Functions. Bin Xu and Koushil Sreenath. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. pdf Video
    @conference{ ICRA2018_Safe_Teleoperation,
    author={ Bin Xu and Koushil Sreenath },
    title={ Safe Teleoperation of Dynamic UAVs through Control Barrier Functions },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ May },
    year={ 2018 },
    address={ Brisbane, Australia },
    }
  34. System-Agnostic Adaptive Teleoperation for High-Dimensional Systems. Xuning Yang, Ayush Agrawal, Koushil Sreenath, and Nathan Michael. Special issue on Learning for Human-Robot Collaboration, Autonomous Robotics:1--17, April 2018. pdf
    @article{ Auro2018_Adaptive_Teleop_HighdimSys,
    author={ Xuning Yang and Ayush Agrawal and Koushil Sreenath and Nathan Michael },
    title={ System-Agnostic Adaptive Teleoperation for High-Dimensional Systems },
    journal={ Special issue on Learning for Human-Robot Collaboration, Autonomous Robotics },
    volume={ },
    number={ },
    pages={ 1--17 },
    month={ April },
    year={ 2018 },
    }
  35. The Reaction Mass Biped: Geometric Mechanics and Control. Avinash Siravuru, Sasi P. Viswanathan, Koushil Sreenath, and Amit K. Sanyal. Journal of Intelligent and Robotic Systems (JINT), 89(1--2):155--173, January 2018. pdf
    @article{ JINT2018_RMB,
    author={ Avinash Siravuru and Sasi P. Viswanathan and Koushil Sreenath and Amit K. Sanyal },
    title={ The Reaction Mass Biped: Geometric Mechanics and Control },
    journal={ Journal of Intelligent and Robotic Systems (JINT) },
    volume={ 89 },
    number={ 1--2 },
    pages={ 155--173 },
    month={ January },
    year={ 2018 },
    }
  36. Differential-Flatness and Control of Multiple Quadrotors with a Payload Suspended through Flexible Cables. Prasanth Kotaru, Guofan Wu, and Koushil Sreenath. IEEE Indian Control Conference (ICC), pages 352--357, Kanpur, India, January 2018. pdf
    @conference{ ICC2018_MultiQuadLoad_FlexCable,
    author={ Prasanth Kotaru and Guofan Wu and Koushil Sreenath },
    title={ Differential-Flatness and Control of Multiple Quadrotors with a Payload Suspended through Flexible Cables },
    booktitle={ IEEE Indian Control Conference (ICC) },
    pages={ 352--357 },
    month={ January },
    year={ 2018 },
    address={ Kanpur, India },
    }
  37. Multi-robot trajectory generation for an aerial payload delivery system. Sarah Tang, Koushil Sreenath, and Vijay Kumar. International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017. pdf Video
    @conference{ ISRR2017_MultiRobot_PayloadDelivery,
    author={ Sarah Tang and Koushil Sreenath and Vijay Kumar },
    title={ Multi-robot trajectory generation for an aerial payload delivery system },
    booktitle={ International Symposium on Robotics Research (ISRR) },
    pages={ },
    month={ December },
    year={ 2017 },
    address={ Puerto Varas, Chile },
    }
  38. Robust and Adaptive Dynamic Walking of Bipedal Robots. Quan Nguyen PhD Thesis, Carnegie Mellon University, Pittsburgh, PA, December 2017. This dissertaton won the Best Dissertation Award in CMU Mechanical Engineering.. pdf
    @phdthesis{ Dissertation2017_Quan_Nguyen, }
  39. Safety-critical Geometric Control Design with Application to Aerial Transportation. Guofan Wu PhD Thesis, Carnegie Mellon University, Pittsburgh, PA, November 2017. pdf
    @phdthesis{ Dissertation2017_Guofan_Wu, }
  40. First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, and J. W. Grizzle. IEEE Access, 5(1):9919--9934, December 2017. pdf Video
    @article{ Access2017_Exoskeleton_DecentralizedControl,
    author={ Ayush Agrawal and Omar Harib and Ayonga Hereid and Sylvain Finet and Matthieu Masselin and Laurent Praly and Aaron D. Ames and Koushil Sreenath and J. W. Grizzle },
    title={ First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons },
    journal={ IEEE Access },
    volume={ 5 },
    number={ 1 },
    pages={ 9919--9934 },
    month={ December },
    year={ 2017 },
    }
  41. Deep Visual Perception for Dynamic Walking on Discrete Terrain. Avinash Siravuru, Allan Wang, Quan Nguyen, and Koushil Sreenath. IEEE International Conference on Humanoid Robotics (Humanoids), pages 418--424, Birmingham, UK, November 2017. pdf Video arXiv
    @conference{ Humanoids2017_DeepPerception_DiscreteTerrainWalking,
    author={ Avinash Siravuru and Allan Wang and Quan Nguyen and Koushil Sreenath },
    title={ Deep Visual Perception for Dynamic Walking on Discrete Terrain },
    booktitle={ IEEE International Conference on Humanoid Robotics (Humanoids) },
    pages={ 418--424 },
    month={ November },
    year={ 2017 },
    address={ Birmingham, UK },
    }
  42. Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. Quan Nguyen, Ayush Agrawal, Xingye Da, William Martin, Hartmut Geyer, Jessy W. Grizzle, and Koushil Sreenath. Robotics: Science and Systems (RSS), Boston, MA, July 2017. This paper was the RSS Best Systems Paper Award Finalist.. pdf
    @conference{ RSS2017_DiscreteTerrain_Walking,
    author={ Quan Nguyen and Ayush Agrawal and Xingye Da and William Martin and Hartmut Geyer and Jessy W. Grizzle and Koushil Sreenath },
    title={ Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview },
    booktitle={ Robotics: Science and Systems (RSS) },
    pages={ },
    month={ July },
    year={ 2017 },
    address={ Boston, MA },
    }
  43. Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation. Ayush Agrawal and Koushil Sreenath. Robotics: Science and Systems (RSS), Boston, MA, July 2017. pdf
    @conference{ RSS2017_Discrete_CBF,
    author={ Ayush Agrawal and Koushil Sreenath },
    title={ Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation },
    booktitle={ Robotics: Science and Systems (RSS) },
    pages={ },
    month={ July },
    year={ 2017 },
    address={ Boston, MA },
    }
  44. Understanding the Mechanisms behind Human-in-the-Loop Optimization Strategies. Katherine Poggensee, Koushil Sreenath, and Steven H. Collins. Dynamic Walking Conference (DW), June 2017.
    @conference{ DW2017_Human-in-Loop_Optimization,
    author={ Katherine Poggensee and Koushil Sreenath and Steven H. Collins },
    title={ Understanding the Mechanisms behind Human-in-the-Loop Optimization Strategies },
    booktitle={ Dynamic Walking Conference (DW) },
    pages={ },
    month={ June },
    year={ 2017 },
    address={ },
    }
  45. Dynamics and Control of a Quadrotor with a Payload Suspended through an Elastic Cable. Prasanth Kotaru, Guofan Wu, and Koushil Sreenath. American Control Conference (ACC), pages 3906--3913, May 2017. pdf
    @conference{ ACC2017_QuadLoad_ElasticCable,
    author={ Prasanth Kotaru and Guofan Wu and Koushil Sreenath },
    title={ Dynamics and Control of a Quadrotor with a Payload Suspended through an Elastic Cable },
    booktitle={ American Control Conference (ACC) },
    pages={ 3906--3913 },
    month={ May },
    year={ 2017 },
    address={ },
    }
  46. A Framework for Efficient Teleoperation via Online Adaptation. Xuning Yang, Koushil Sreenath, and Nathan Michael. IEEE International Conference on Robotics and Automation (ICRA), pages 5948--5953, Singapore, May 2017. pdf
    @conference{ ICRA2017_Teleop,
    author={ Xuning Yang and Koushil Sreenath and Nathan Michael },
    title={ A Framework for Efficient Teleoperation via Online Adaptation },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ 5948--5953 },
    month={ May },
    year={ 2017 },
    address={ Singapore },
    }
  47. A Task-Agnostic User-Independent Framework for Improving Human-in-the-Loop Control of Mobile Robots via Adaptive Teleoperation. Nathan Michael, Xuning Yang, and Koushil Sreenath. Invention Disclosure, Carnegie Mellon University, March 2017.
    @misc{ CMUID2017_AdaptiveTeleop, }
  48. Online Adaptive Teleoperation via Incremental Intent Modeling. Xuning Yang, Koushil Sreenath, and Nathan. Late Breaking Report, ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2017.
    @conference{ HRI2017_adaptive_teleop,
    author={ Xuning Yang and Koushil Sreenath and Nathan },
    title={ Online Adaptive Teleoperation via Incremental Intent Modeling },
    booktitle={ Late Breaking Report, ACM/IEEE International Conference on Human-Robot Interaction (HRI) },
    pages={ },
    month={ },
    year={ 2017 },
    address={ },
    }
  49. Dynamic Walking on Stepping Stones with Gait Library and Control Barrier. Quan Nguyen, Xingye Da, J. W. Grizzle, and Koushil Sreenath. Workshop on Algorithimic Foundations of Robotics (WAFR), 2016. pdf Video
    @conference{ WAFR2016_GaitLibrary_SteppingStones,
    author={ Quan Nguyen and Xingye Da and J. W. Grizzle and Koushil Sreenath },
    title={ Dynamic Walking on Stepping Stones with Gait Library and Control Barrier },
    booktitle={ Workshop on Algorithimic Foundations of Robotics (WAFR) },
    pages={ },
    month={ },
    year={ 2016 },
    address={ },
    }
  50. Symbolic Computation of Dynamics on Smooth Manifolds. Brian Bittner and Koushil Sreenath. Workshop on Algorithmic Foundations of Robotics (WAFR), 2016. pdf
    @conference{ WAFR2016_SymDynamics_Manifolds,
    author={ Brian Bittner and Koushil Sreenath },
    title={ Symbolic Computation of Dynamics on Smooth Manifolds },
    booktitle={ Workshop on Algorithmic Foundations of Robotics (WAFR) },
    pages={ },
    month={ },
    year={ 2016 },
    address={ },
    }
  51. 3D Dynamic Walking on Stepping Stones with Control Barrier Functions. Quan Nguyen, Ayonga Hereid, J. W. Grizzle, Aaron D. Ames, and Koushil Sreenath. IEEE International Conference on Decision and Control (CDC), pages 827--834, Las Vegas, NV, December 2016. pdf Video
    @conference{ CDC2016_3DWalking_SteppingStones,
    author={ Quan Nguyen and Ayonga Hereid and J. W. Grizzle and Aaron D. Ames and Koushil Sreenath },
    title={ 3D Dynamic Walking on Stepping Stones with Control Barrier Functions },
    booktitle={ IEEE International Conference on Decision and Control (CDC) },
    pages={ 827--834 },
    month={ December },
    year={ 2016 },
    address={ Las Vegas, NV },
    }
  52. Optimal Robust Time-Varying Safety-Critical Control with Application to Dynamic Walking on Moving Stepping Stones. Quan Nguyen and Koushil Sreenath. ASME Dynamics Systems and Control Conference (DSCC), Minneapolis, MN, October 2016. pdf Video
    @conference{ DSCC2016_Robust_TimeVarying_SteppingStones,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Optimal Robust Time-Varying Safety-Critical Control with Application to Dynamic Walking on Moving Stepping Stones },
    booktitle={ ASME Dynamics Systems and Control Conference (DSCC) },
    pages={ },
    month={ October },
    year={ 2016 },
    address={ Minneapolis, MN },
    }
  53. Safety-Critical Control of a 3D Quadrotor with Range-Limited Sensing. Guofan Wu and Koushil Sreenath. ASME Dynamics Systems and Control Conference (DSCC), Minneapolis, MN, October 2016. pdf Video
    @conference{ DSCC2016_Safety_Control_3D_Quadrotor,
    author={ Guofan Wu and Koushil Sreenath },
    title={ Safety-Critical Control of a 3D Quadrotor with Range-Limited Sensing },
    booktitle={ ASME Dynamics Systems and Control Conference (DSCC) },
    pages={ },
    month={ October },
    year={ 2016 },
    address={ Minneapolis, MN },
    }
  54. Determining Minimum and Maximum Number of Agents Required for Planar Cable-Suspended Aerial Manipulation. Henry Hung, Niteesh Sood, and Koushil Sreenath. ASME Dynamics Systems and Control Conference (DSCC), Minneapolis, MN, October 2016. pdf
    @conference{ DSCC2016_MinAgents,
    author={ Henry Hung and Niteesh Sood and Koushil Sreenath },
    title={ Determining Minimum and Maximum Number of Agents Required for Planar Cable-Suspended Aerial Manipulation },
    booktitle={ ASME Dynamics Systems and Control Conference (DSCC) },
    pages={ },
    month={ October },
    year={ 2016 },
    address={ Minneapolis, MN },
    }
  55. Optimal Control for Geometric Motion Planning of a Robot Diver. Roberto Shu, Avinash Siravuru, Akshara Rai, Tony Dear, Koushil Sreenath, and Howie Choset. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4780--4785, Daejeon, Korea, October 2016. pdf
    @conference{ IROS2016_GeometricPlanning_RobotDiver,
    author={ Roberto Shu and Avinash Siravuru and Akshara Rai and Tony Dear and Koushil Sreenath and Howie Choset },
    title={ Optimal Control for Geometric Motion Planning of a Robot Diver },
    booktitle={ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) },
    pages={ 4780--4785 },
    month={ October },
    year={ 2016 },
    address={ Daejeon, Korea },
    }
  56. Safety-Critical Control of a Planar Quadrotor. Guofan Wu and Koushil Sreenath. American Control Conference (ACC), pages 2252--2258, Boston, MA, July 2016. pdf Video
    @conference{ ACC2016_Safety_Control_Planar_Quadrotor,
    author={ Guofan Wu and Koushil Sreenath },
    title={ Safety-Critical Control of a Planar Quadrotor },
    booktitle={ American Control Conference (ACC) },
    pages={ 2252--2258 },
    month={ July },
    year={ 2016 },
    address={ Boston, MA },
    }
  57. Optimal Robust Control for Constrained Nonlinear Hybrid Systems with Application to Bipedal Locomotion. Quan Nguyen and Koushil Sreenath. American Control Conference (ACC), pages 4807--4813, Boston, MA, July 2016. pdf Video
    @conference{ ACC2016_Robust_CBFCLF,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Optimal Robust Control for Constrained Nonlinear Hybrid Systems with Application to Bipedal Locomotion },
    booktitle={ American Control Conference (ACC) },
    pages={ 4807--4813 },
    month={ July },
    year={ 2016 },
    address={ Boston, MA },
    }
  58. Exponential Control Barrier Functions for Enforcing High Relative-Degree Safety-Critical Constraints. Quan Nguyen and Koushil Sreenath. American Control Conference (ACC), pages 322--328, Boston, MA, July 2016. pdf Video
    @conference{ ACC2016_Exponential_CBF,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Exponential Control Barrier Functions for Enforcing High Relative-Degree Safety-Critical Constraints },
    booktitle={ American Control Conference (ACC) },
    pages={ 322--328 },
    month={ July },
    year={ 2016 },
    address={ Boston, MA },
    }
  59. Dynamic Bipedal Walking over Time-Varying Stepping Stones. Quan Nguyen and Koushil Sreenath. Dynamic Walking Conference (DW), Michigan, June 2016.
    @conference{ DW2016_TimeVarying_SteppingStones,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Dynamic Bipedal Walking over Time-Varying Stepping Stones },
    booktitle={ Dynamic Walking Conference (DW) },
    pages={ },
    month={ June },
    year={ 2016 },
    address={ Michigan },
    }
  60. Methods to Improve System Identification in a Human-Exoskeleton. Katherine Poggensee, Koushil Sreenath, and Steven H. Collins. Dynamic Walking Conference (DW), Michigan, June 2016.
    @conference{ DW2016_HumanExo_SysID,
    author={ Katherine Poggensee and Koushil Sreenath and Steven H. Collins },
    title={ Methods to Improve System Identification in a Human-Exoskeleton },
    booktitle={ Dynamic Walking Conference (DW) },
    pages={ },
    month={ June },
    year={ 2016 },
    address={ Michigan },
    }
  61. Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement. Quan Nguyen and Koushil Sreenath. IFAC Analysis and Design of Hybrid Systems (ADHS), Atlanta, GA, October 2015. pdf Video
    @conference{ ADHS2015_FootstepCBF,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Safety-Critical Control for Dynamical Bipedal Walking with Precise Footstep Placement },
    booktitle={ IFAC Analysis and Design of Hybrid Systems (ADHS) },
    pages={ },
    month={ October },
    year={ 2015 },
    address={ Atlanta, GA },
    }
  62. Variation-based Linearization of Nonlinear Systems Evolving on $SO(3)$ and $S^2$. Guofan Wu and Koushil Sreenath. IEEE Access, 3:1592--1604, September 2015. pdf
    @article{ Access2015_VariationLinearization,
    author={ Guofan Wu and Koushil Sreenath },
    title={ Variation-based Linearization of Nonlinear Systems Evolving on $SO(3)$ and $S^2$ },
    journal={ IEEE Access },
    volume={ 3 },
    number={ },
    pages={ 1592--1604 },
    month={ September },
    year={ 2015 },
    }
  63. Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs. Quan Nguyen and Koushil Sreenath. Robotics: Science and Systems (RSS), Rome, Italy, July 2015. pdf Supplementary Material
    @conference{ RSS2015_RobustCLF,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs },
    booktitle={ Robotics: Science and Systems (RSS) },
    pages={ },
    month={ July },
    year={ 2015 },
    address={ Rome, Italy },
    }
  64. Safety-Critical and Constrained Geometric Control Synthesis using Control Lyapunov and Control Barrier Functions for Systems Evolving on Manifolds. Guofan Wu and Koushil Sreenath. American Control Conference (ACC), pages 2038--2044, Chicago, IL, July 2015. pdf
    @conference{ ACC2015_Geometric_CBFCLF,
    author={ Guofan Wu and Koushil Sreenath },
    title={ Safety-Critical and Constrained Geometric Control Synthesis using Control Lyapunov and Control Barrier Functions for Systems Evolving on Manifolds },
    booktitle={ American Control Conference (ACC) },
    pages={ 2038--2044 },
    month={ July },
    year={ 2015 },
    address={ Chicago, IL },
    }
  65. L1 Adaptive Control for Bipedal Robots with Control Lyapunov Function based Quadratic Programs. Quan Nguyen and Koushil Sreenath. American Control Conference (ACC), pages 862--867, Chicago, IL, July 2015. pdf Video
    @conference{ ACC2015_L1_CLF,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ L1 Adaptive Control for Bipedal Robots with Control Lyapunov Function based Quadratic Programs },
    booktitle={ American Control Conference (ACC) },
    pages={ 862--867 },
    month={ July },
    year={ 2015 },
    address={ Chicago, IL },
    }
  66. The Reaction Mass Biped: Equations of Motion, Hybrid Model for Walking and Trajectory Tracking Control. Koushil Sreenath and Amit K. Sanyal. IEEE International Conference on Robotics and Automation (ICRA), pages 5741--5746, Seattle, WA, May 2015. pdf
    @conference{ ICRA2015_RMB,
    author={ Koushil Sreenath and Amit K. Sanyal },
    title={ The Reaction Mass Biped: Equations of Motion, Hybrid Model for Walking and Trajectory Tracking Control },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ 5741--5746 },
    month={ May },
    year={ 2015 },
    address={ Seattle, WA },
    }
  67. Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. Kevin Galloway, Koushil Sreenath, Aaron D. Ames, and Jessy W. Grizzle. IEEE Access, 3:323--332, April 2015. pdf Video
    @article{ Access2015_CLFQP,
    author={ Kevin Galloway and Koushil Sreenath and Aaron D. Ames and Jessy W. Grizzle },
    title={ Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs },
    journal={ IEEE Access },
    volume={ 3 },
    number={ },
    pages={ 323--332 },
    month={ April },
    year={ 2015 },
    }
  68. Dynamic Bipedal Walking while Carrying an Unknown Time-Varying Load. Quan Nguyen and Koushil Sreenath. Dynamic Walking (DW), Ohio State University, July 2015.
    @conference{ DW2015_Walking_Carrying_TimeVarying_Load,
    author={ Quan Nguyen and Koushil Sreenath },
    title={ Dynamic Bipedal Walking while Carrying an Unknown Time-Varying Load },
    booktitle={ Dynamic Walking (DW) },
    pages={ },
    month={ July },
    year={ 2015 },
    address={ Ohio State University },
    }
  69. Identifying the Dynamics of a Human-Exoskeleton System. Katherine Poggensee, Koushil Sreenath, and Steven H. Collins. Dynamic Walking Conference (DW), Ohio State University, July 2015.
    @conference{ DW2015_HumanExo_SysID,
    author={ Katherine Poggensee and Koushil Sreenath and Steven H. Collins },
    title={ Identifying the Dynamics of a Human-Exoskeleton System },
    booktitle={ Dynamic Walking Conference (DW) },
    pages={ },
    month={ July },
    year={ 2015 },
    address={ Ohio State University },
    }
  70. An Active Damping Leg for Safe Landing from a Free Fall. Roberto Shu, Avinash Siravuru, and Koushil Sreenath. Dynamic Walking (DW), Ohio State University, July 2015.
    @conference{ DW2015_Active_Damping_Leg,
    author={ Roberto Shu and Avinash Siravuru and Koushil Sreenath },
    title={ An Active Damping Leg for Safe Landing from a Free Fall },
    booktitle={ Dynamic Walking (DW) },
    pages={ },
    month={ July },
    year={ 2015 },
    address={ Ohio State University },
    }
  71. Geometric Control of Quadrotors Transporting a Rigid-body Load. Guofan Wu and Koushil Sreenath. IEEE Conference on Decision and Control (CDC), pages 6141--6148, Los Angeles, CA, December 2014. pdf
    @conference{ CDC2014,
    author={ Guofan Wu and Koushil Sreenath },
    title={ Geometric Control of Quadrotors Transporting a Rigid-body Load },
    booktitle={ IEEE Conference on Decision and Control (CDC) },
    pages={ 6141--6148 },
    month={ December },
    year={ 2014 },
    address={ Los Angeles, CA },
    }
  72. Dynamically Feasible Motion Planning through Partial Differential Flatness. Suresh Ramasamy, Guofan Wu, and Koushil Sreenath. Robotics: Science and Systems (RSS), Berkeley, CA, July 2014. pdf
    @conference{ RSS2014,
    author={ Suresh Ramasamy and Guofan Wu and Koushil Sreenath },
    title={ Dynamically Feasible Motion Planning through Partial Differential Flatness },
    booktitle={ Robotics: Science and Systems (RSS) },
    pages={ },
    month={ July },
    year={ 2014 },
    address={ Berkeley, CA },
    }
  73. Toward Autonomous Avian-Inspired Dynamic Grasping and Perching. Justin Thomas, Giuseppe Loianno, Joseph Polin, Koushil Sreenath, and Vijay Kumar. Bioinspiration & Biomimetics, 9(2):025010--025024, June 2014. pdf Video
    @article{ BB2014,
    author={ Justin Thomas and Giuseppe Loianno and Joseph Polin and Koushil Sreenath and Vijay Kumar },
    title={ Toward Autonomous Avian-Inspired Dynamic Grasping and Perching },
    journal={ Bioinspiration & Biomimetics },
    volume={ 9 },
    number={ 2 },
    pages={ 025010--025024 },
    month={ June },
    year={ 2014 },
    }
  74. Toward Image Based Visual Servoing for Aerial Grasping and Perching. Justin Thomas, Giuesppe Loianno, Koushil Sreenath, and Vijay Kumar. IEEE International Conference on Robotics and Automation (ICRA), 2014. pdf Video
    @conference{ ICRA2014,
    author={ Justin Thomas and Giuesppe Loianno and Koushil Sreenath and Vijay Kumar },
    title={ Toward Image Based Visual Servoing for Aerial Grasping and Perching },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ },
    year={ 2014 },
    address={ },
    }
  75. Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics. Aaron D. Ames, Kevin Galloway, Koushil Sreenath, and J. W. Grizzle. IEEE Transactions on Automatic Control (TAC), 59(4):876--891, April 2014. pdf Video
    @article{ TAC2014,
    author={ Aaron D. Ames and Kevin Galloway and Koushil Sreenath and J. W. Grizzle },
    title={ Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics },
    journal={ IEEE Transactions on Automatic Control (TAC) },
    volume={ 59 },
    number={ 4 },
    pages={ 876--891 },
    month={ April },
    year={ 2014 },
    }
  76. Geometric Control and Differential Flatness of a Quadrotor UAV with a Cable-Suspended Load. Koushil Sreenath, Taeyoung Lee, and Vijay Kumar. IEEE Conference on Decision and Control (CDC), pages 2269--2274, Florence, Italy, December 2013. pdf Supplementary Material
    @conference{ CDC2013,
    author={ Koushil Sreenath and Taeyoung Lee and Vijay Kumar },
    title={ Geometric Control and Differential Flatness of a Quadrotor UAV with a Cable-Suspended Load },
    booktitle={ IEEE Conference on Decision and Control (CDC) },
    pages={ 2269--2274 },
    month={ December },
    year={ 2013 },
    address={ Florence, Italy },
    }
  77. Geometric Control of Cooperating Multiple Quadrotor UAVs with a Suspended Payload. Taeyoung Lee, Koushil Sreenath, and Vijay Kumar. IEEE Conference on Decision and Control (CDC), pages 5510--5515, Florence, Italy, December 2013. pdf
    @conference{ CDC2013a,
    author={ Taeyoung Lee and Koushil Sreenath and Vijay Kumar },
    title={ Geometric Control of Cooperating Multiple Quadrotor UAVs with a Suspended Payload },
    booktitle={ IEEE Conference on Decision and Control (CDC) },
    pages={ 5510--5515 },
    month={ December },
    year={ 2013 },
    address={ Florence, Italy },
    }
  78. Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots. Koushil Sreenath and Vijay Kumar. Robotics: Science and Systems (RSS), 2013. This paper won the RSS Best Paper Award 2013. pdf
    @conference{ RSS2013,
    author={ Koushil Sreenath and Vijay Kumar },
    title={ Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots },
    booktitle={ Robotics: Science and Systems (RSS) },
    pages={ },
    month={ },
    year={ 2013 },
    address={ },
    }
  79. Avian-Inspired Grasping for Quadrotor Micro UAVs. Justin Thomas, Joe Polin, Koushil Sreenath, and Vijay Kumar. ASME International Design Engineering Technical Conference (IDETC), Portland, OR, August 2013. pdf Video
    @conference{ IDETC2013,
    author={ Justin Thomas and Joe Polin and Koushil Sreenath and Vijay Kumar },
    title={ Avian-Inspired Grasping for Quadrotor Micro UAVs },
    booktitle={ ASME International Design Engineering Technical Conference (IDETC) },
    pages={ },
    month={ August },
    year={ 2013 },
    address={ Portland, OR },
    }
  80. Trajectory Generation and Control of a Quadrotor with a Cable-Suspended Load -- A Differentially-Flat Hybrid System. Koushil Sreenath, Nathan Michael, and Vijay Kumar. IEEE International Conference on Robotics and Automation (ICRA), 2013. pdf
    @conference{ ICRA2013,
    author={ Koushil Sreenath and Nathan Michael and Vijay Kumar },
    title={ Trajectory Generation and Control of a Quadrotor with a Cable-Suspended Load -- A Differentially-Flat Hybrid System },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ },
    month={ },
    year={ 2013 },
    address={ },
    }
  81. A Partially Observable Hybrid System Model for Bipedal Locomotion for Adapting to Terrain Variations. Koushil Sreenath, Connie R. Hill, and Vijay Kumar. Hybrid Systems: Computation and Control (HSCC), pages 137--142, Philadelphia, PA, April 2013. pdf
    @conference{ HSCC2013,
    author={ Koushil Sreenath and Connie R. Hill and Vijay Kumar },
    title={ A Partially Observable Hybrid System Model for Bipedal Locomotion for Adapting to Terrain Variations },
    booktitle={ Hybrid Systems: Computation and Control (HSCC) },
    pages={ 137--142 },
    month={ April },
    year={ 2013 },
    address={ Philadelphia, PA },
    }
  82. Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. The International Journal of Robotics Research (IJRR), 32(3):324--345, March 2013. pdf Video
    @article{ IJRR2013,
    author={ Koushil Sreenath and Hae-Won Park and Ioannis Poulakakis and Jessy W. Grizzle },
    title={ Embedding Active Force Control within the Compliant Hybrid Zero Dynamics to Achieve Stable, Fast Running on MABEL },
    journal={ The International Journal of Robotics Research (IJRR) },
    volume={ 32 },
    number={ 3 },
    pages={ 324--345 },
    month={ March },
    year={ 2013 },
    }
  83. Optimal Trajectory Generation Under Homology Class Constraints. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, and Vijay Kumar. IEEE Conference on Decision and Control (CDC), pages 3157--3164, Maui, HI, December 2012. pdf
    @conference{ CDC2012,
    author={ Soonkyum Kim and Koushil Sreenath and Subhrajit Bhattacharya and Vijay Kumar },
    title={ Optimal Trajectory Generation Under Homology Class Constraints },
    booktitle={ IEEE Conference on Decision and Control (CDC) },
    pages={ 3157--3164 },
    month={ December },
    year={ 2012 },
    address={ Maui, HI },
    }
  84. Trajectory Planning for Systems with Homotopy Class Constraints. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, and Vijay Kumar. Latest Advances in Robot Kinematics (ARK), pages 83--90, Innsbruck, Austria, June 2012. pdf
    @conference{ ARK2012,
    author={ Soonkyum Kim and Koushil Sreenath and Subhrajit Bhattacharya and Vijay Kumar },
    title={ Trajectory Planning for Systems with Homotopy Class Constraints },
    booktitle={ Latest Advances in Robot Kinematics (ARK) },
    pages={ 83--90 },
    month={ June },
    year={ 2012 },
    address={ Innsbruck, Austria },
    }
  85. Switching Control Design for Accommodating Large Step-down Disturbances in Bipedal Robot Walking. Hae-Won Park, Koushil Sreenath, Alireza Ramezani, and Jessy W. Grizzle. IEEE International Conference on Robotics and Automation (ICRA), pages 45--50, Saint Paul, MN, May 2012. pdf Video
    @conference{ ICRA2012b,
    author={ Hae-Won Park and Koushil Sreenath and Alireza Ramezani and Jessy W. Grizzle },
    title={ Switching Control Design for Accommodating Large Step-down Disturbances in Bipedal Robot Walking },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ 45--50 },
    month={ May },
    year={ 2012 },
    address={ Saint Paul, MN },
    }
  86. Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller with Active Force Control for Running on MABEL. Koushil Sreenath, Hae-Won Park, and Jessy W. Grizzle. IEEE International Conference on Robotics and Automation (ICRA), pages 51--56, Saint Paul, MN, May 2012. pdf
    @conference{ ICRA2012a,
    author={ Koushil Sreenath and Hae-Won Park and Jessy W. Grizzle },
    title={ Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller with Active Force Control for Running on MABEL },
    booktitle={ IEEE International Conference on Robotics and Automation (ICRA) },
    pages={ 51--56 },
    month={ May },
    year={ 2012 },
    address={ Saint Paul, MN },
    }
  87. Feedback Control of a Bipedal Walker and Runner with Compliance. Koushil Sreenath PhD Thesis, The University of Michigan, Ann Arbor, MI, August 2011. pdf
    @phdthesis{ Dissertation2011, }
  88. Compliant Hybrid Zero Dynamics Controller for achieving Stable, Efficient and Fast Bipedal Walking on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. The International Journal of Robotics Research (IJRR), 30(9):1170--1193, August 2011. pdf Video
    @article{ IJRR2011,
    author={ Koushil Sreenath and Hae-Won Park and Ioannis Poulakakis and Jessy W. Grizzle },
    title={ Compliant Hybrid Zero Dynamics Controller for achieving Stable, Efficient and Fast Bipedal Walking on MABEL },
    journal={ The International Journal of Robotics Research (IJRR) },
    volume={ 30 },
    number={ 9 },
    pages={ 1170--1193 },
    month={ August },
    year={ 2011 },
    }
  89. Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter estimation for control design. Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and Jessy W. Grizzle. IEEE Control Systems Magazine (CSM), 31(2):63--88, April 2011. This paper was the cover article on IEEE CSM, April 2011 issue.. pdf Video
    @article{ CSM2011,
    author={ Hae-Won Park and Koushil Sreenath and Jonathan Hurst and Jessy W. Grizzle },
    title={ Identification of a Bipedal Robot with a Compliant Drivetrain: Parameter estimation for control design },
    journal={ IEEE Control Systems Magazine (CSM) },
    volume={ 31 },
    number={ 2 },
    pages={ 63--88 },
    month={ April },
    year={ 2011 },
    }
  90. Adaptive Sampling with Mobile WSN: Simultaneous robot localisation & mapping of parametric spatio-temporal fields. Koushil Sreenath, Muhammad F. Mysorewala, Dan O. Popa, and Frank L. Lewis. Control Engineering Series. IET, February 2011. ISBN 978-1-84919-257-6. Table of contents
    @book{ IET2011,
    author={ Koushil Sreenath and Muhammad F. Mysorewala and Dan O. Popa and Frank L. Lewis },
    title={ Adaptive Sampling with Mobile WSN: Simultaneous robot localisation & mapping of parametric spatio-temporal fields },
    series={ Control Engineering Series },
    month={ February },
    year={ 2011 },
    publisher={ IET },
    note={ ISBN 978-1-84919-257-6 },
    }
  91. Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller for Walking on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. IEEE Conference on Decision and Control (CDC), pages 280--287, Atlanta, GA, USA, December 2010. pdf Video
    @conference{ CDC2010,
    author={ Koushil Sreenath and Hae-Won Park and Ioannis Poulakakis and Jessy W. Grizzle },
    title={ Design and Experimental Implementation of a Compliant Hybrid Zero Dynamics Controller for Walking on MABEL },
    booktitle={ IEEE Conference on Decision and Control (CDC) },
    pages={ 280--287 },
    month={ December },
    year={ 2010 },
    address={ Atlanta, GA, USA },
    }
  92. Real World Issues with Real-Time Control of MABEL: A Platform for Experimental Control of Bipedal Locomotion. Jeffrey Koncsol, Hae-Won Park, and Koushil Sreenath. IEEE-RAS International Conference on Humanoid Robots (Humanoids), pages 659--664, Nashville, TN, USA, December 2010. pdf
    @conference{ Humanoids2010,
    author={ Jeffrey Koncsol and Hae-Won Park and Koushil Sreenath },
    title={ Real World Issues with Real-Time Control of MABEL: A Platform for Experimental Control of Bipedal Locomotion },
    booktitle={ IEEE-RAS International Conference on Humanoid Robots (Humanoids) },
    pages={ 659--664 },
    month={ December },
    year={ 2010 },
    address={ Nashville, TN, USA },
    }
  93. Hybrid zero dynamics based control design for efficient walking. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and J. W. Grizzle. Dynamic Walking Conference (DW), MIT, July 2010.
    @conference{ DW2010_MABEL_HZD_Walking,
    author={ Koushil Sreenath and Hae-Won Park and Ioannis Poulakakis and J. W. Grizzle },
    title={ Hybrid zero dynamics based control design for efficient walking },
    booktitle={ Dynamic Walking Conference (DW) },
    pages={ },
    month={ July },
    year={ 2010 },
    address={ MIT },
    }
  94. System identification and modeling for MABEL, a bipedal robot with a cable-differential-based compliant drivetrain. Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and J. W. Grizzle. Dynamic Walking Conference (DW), MIT, July 2010.
    @conference{ DW2010_MABEL_SysID,
    author={ Hae-Won Park and Koushil Sreenath and Jonathan Hurst and J. W. Grizzle },
    title={ System identification and modeling for MABEL, a bipedal robot with a cable-differential-based compliant drivetrain },
    booktitle={ Dynamic Walking Conference (DW) },
    pages={ },
    month={ July },
    year={ 2010 },
    address={ MIT },
    }
  95. Identification and Dynamic Model of a Bipedal Robot with a Cable-Differential-Based Compliant Drivetrain. Hae-Won Park, Koushil Sreenath, Jonathan W. Hurst, and Jessy W. Grizzle. Technical Report CGR 10-06, University of Michigan Control Group, , 2010.
    @techreport{ PaSrHuGr2010, }
  96. MABEL, A New Robotic Bipedal Walker and Runner. Jessy W. Grizzle, Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath. American Control Conference (ACC), pages 2030--2036, St. Louis, MO, USA, June 2009. pdf Video
    @conference{ ACC2009,
    author={ Jessy W. Grizzle and Jonathan Hurst and Benjamin Morris and Hae-Won Park and Koushil Sreenath },
    title={ MABEL, A New Robotic Bipedal Walker and Runner },
    booktitle={ American Control Conference (ACC) },
    pages={ 2030--2036 },
    month={ June },
    year={ 2009 },
    address={ St. Louis, MO, USA },
    }
  97. Deadlock avoidance for free choice Multi-Reentrant Flow Lines: Critical Siphons & Critical Subsystems. Prasanna Ballal, Frank L. Lewis, Jose Jr. Mireles, and Koushil Sreenath. IEEE Mediterranean Conference on Control and Automation (MED), pages 1--8, Athens, Greece, June 2007. pdf
    @conference{ MED2007,
    author={ Prasanna Ballal and Frank L. Lewis and Jose Jr. Mireles and Koushil Sreenath },
    title={ Deadlock avoidance for free choice Multi-Reentrant Flow Lines: Critical Siphons & Critical Subsystems },
    booktitle={ IEEE Mediterranean Conference on Control and Automation (MED) },
    pages={ 1--8 },
    month={ June },
    year={ 2007 },
    address={ Athens, Greece },
    }
  98. Avoiding shared resource conflicts in mobile sensor networks with multiple missions. Koushil Sreenath, Vincenzo Giordano, and Frank L. Lewis. IET Control Theory & Applications (CTA), 1(3):665--674, May 2007. pdf
    @article{ CTA2007,
    author={ Koushil Sreenath and Vincenzo Giordano and Frank L. Lewis },
    title={ Avoiding shared resource conflicts in mobile sensor networks with multiple missions },
    journal={ IET Control Theory & Applications (CTA) },
    volume={ 1 },
    number={ 3 },
    pages={ 665--674 },
    month={ May },
    year={ 2007 },
    }
  99. Simultaneous adaptive localization of a wireless sensor network. Koushil Sreenath, Frank L. Lewis, and Dan O. Popa. ACM SIGMOBILE Mobile Computing and Communications Review (M2CR), 11(2):14--28, April 2007. pdf
    @article{ M2CR2007,
    author={ Koushil Sreenath and Frank L. Lewis and Dan O. Popa },
    title={ Simultaneous adaptive localization of a wireless sensor network },
    journal={ ACM SIGMOBILE Mobile Computing and Communications Review (M2CR) },
    volume={ 11 },
    number={ 2 },
    pages={ 14--28 },
    month={ April },
    year={ 2007 },
    }
  100. Localization of a Wireless Sensor Network with Unattended Ground Sensors and Some Mobile Robots. Koushil Sreenath, Frank L. Lewis, and Dan O. Popa. IEEE International Conference on Robotics, Automation, and Mechatronics (RAM), pages 1--8, Bangkok, Thailand, December 2006. This paper won the IEEE RAM Conf. Best Paper Award 2006. pdf
    @conference{ RAM2006,
    author={ Koushil Sreenath and Frank L. Lewis and Dan O. Popa },
    title={ Localization of a Wireless Sensor Network with Unattended Ground Sensors and Some Mobile Robots },
    booktitle={ IEEE International Conference on Robotics, Automation, and Mechatronics (RAM) },
    pages={ 1--8 },
    month={ December },
    year={ 2006 },
    address={ Bangkok, Thailand },
    }
  101. Fully Integrated Automated Test Apparatus for Measuring Material Conductivity under Controlled Atmosphere. Koushil Sreenath, Xiang-Dong He, Yi Jiang, and Warren Gleason. Invention Disclosure, Saint-Gobain Northboro R&D Center, April 2006.
    @misc{ SGID2006, }
  102. Multiple Sample Seebeck and Resistivity Test Automation. Koushil Sreenath Technical Report TM-2006-991, Saint-Gobain Northboro R&D Center, Northboro, MA, USA, 2006.
    @techreport{ SGTR2006a, }
  103. Furnace Control Automation. Koushil Sreenath Technical Report TM-2006-1078, Saint-Gobain Northboro R&D Center, Northboro, MA, USA, 2006.
    @techreport{ SGTR2006b, }
  104. Design and implementation of data acquisition hardware and interface for the controlled oxygen SOFC test station system. Koushil Sreenath and Xiang-Dong He. Technical Report TM-2006-937, Saint-Gobain Northboro R&D Center, Northboro, MA, USA, 2006.
    @techreport{ SGTR2006, }
  105. Adaptive Sampling using Mobile WSN. Koushil Sreenath Master's Thesis, University of Texas at Arlington, Arlington, TX, USA, December 2005. pdf
    @mastersthesis{ Thesis2005, }
  106. Robotic deployment for environmental sampling applications. Dan O. Popa, Koushil Sreenath, and Frank L. Lewis. IEEE International Conference on Control and Automation (ICCA), pages 197--202, Budapest, Hungary, June 2005. pdf
    @conference{ ICCA2005,
    author={ Dan O. Popa and Koushil Sreenath and Frank L. Lewis },
    title={ Robotic deployment for environmental sampling applications },
    booktitle={ IEEE International Conference on Control and Automation (ICCA) },
    pages={ 197--202 },
    month={ June },
    year={ 2005 },
    address={ Budapest, Hungary },
    }

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