Publications

2025

1. ICML

   

   A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems

   Manan Tayal^*, Aditya Singh^*, Shishir Kolathaya, and Somil Bansal

   In International Conference on Machine Learning (ICML), 2025

   arXiv Bib Code Website

   @inproceedings{tayal2025physics,
     title = {A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems},
     author = {Tayal, Manan and Singh, Aditya and Kolathaya, Shishir and Bansal, Somil},
     booktitle = {International Conference on Machine Learning (ICML)},
     year = {2025}
   }

2. Submitted

   

   GenOSIL: Generalized Optimal and Safe Robot Control using Parameter-Conditioned Imitation Learning

   Mumuksh Tayal, Manan Tayal, and Ravi Prakash

   arXiv preprint arXiv:2503.12243, 2025

   arXiv Bib Website

   @article{tayal2025genosil,
     title = {GenOSIL: Generalized Optimal and Safe Robot Control using Parameter-Conditioned Imitation Learning},
     author = {Tayal, Mumuksh and Tayal, Manan and Prakash, Ravi},
     journal = {arXiv preprint arXiv:2503.12243},
     year = {2025}
   }

3. Submitted

   

   A collision cone approach for control barrier functions

   Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal, Rajpal Singh, Tejas Rao, Jishnu Keshavan, Pushpak Jagtap, and Shishir Kolathaya

   In Submission, 2025

   arXiv Bib

   @inproceedings{tayal2024collision,
     title = {A collision cone approach for control barrier functions},
     author = {Tayal, Manan and Goswami, Bhavya Giri and Rajgopal, Karthik and Singh, Rajpal and Rao, Tejas and Keshavan, Jishnu and Jagtap, Pushpak and Kolathaya, Shishir},
     journal = {arXiv preprint arXiv:2403.07043},
     booktitle = {Submission},
     year = {2025}
   }

4. Submitted

   

   CP-NCBF: A conformal prediction-based approach to synthesize verified neural control barrier functions

   Manan Tayal^*, Aditya Singh^*, Pushpak Jagtap, and Shishir Kolathaya

   In Submission, 2025

   arXiv Bib

   @inproceedings{tayal2025cp,
     title = {CP-NCBF: A conformal prediction-based approach to synthesize verified neural control barrier functions},
     author = {Tayal, Manan and Singh, Aditya and Jagtap, Pushpak and Kolathaya, Shishir},
     journal = {arXiv preprint arXiv:2503.17395},
     booktitle = {Submission},
     year = {2025}
   }

2024

1. CDC

   

   Learning a Formally Verified Control Barrier Function in Stochastic Environment

   Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, and Shishir Kolathaya

   In 2024 IEEE 63rd Conference on Decision and Control (CDC), 2024

   DOI arXiv Bib Code Website

   @inproceedings{tayal2024learning,
     author = {Tayal, Manan and Zhang, Hongchao and Jagtap, Pushpak and Clark, Andrew and Kolathaya, Shishir},
     booktitle = {2024 IEEE 63rd Conference on Decision and Control (CDC)},
     title = {Learning a Formally Verified Control Barrier Function in Stochastic Environment},
     year = {2024},
     pages = {4098-4104},
     keywords = {Training;Jacobian matrices;Sufficient conditions;Filters;Heuristic algorithms;Neural networks;Control systems;Safety;Collision avoidance;Autonomous vehicles},
     doi = {10.1109/CDC56724.2024.10886052}
   }

2. ICC

   

   BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains

   GVS Mothish, Manan Tayal, and Shishir Kolathaya

   In 2024 IEEE Indian Control Conference (ICC), 2024

   Bib Website

   @inproceedings{mothish2024birodiff,
     title = {BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains},
     author = {Mothish, GVS and Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 IEEE Indian Control Conference (ICC)},
     year = {2024}
   }

3. SRLR@IROS

   

   Semi-supervised safe visuomotor policy synthesis using barrier certificates

   Manan Tayal^*, Aditya Singh^*, Pushpak Jagtap, and Shishir Kolathaya

   In International Conference on Intelligent Robots and Systems (IROS) Workshop on Safe and Reliable Learning for Robotics, 2024

   Bib

   @inproceedings{tayal2024semi,
     title = {Semi-supervised safe visuomotor policy synthesis using barrier certificates},
     author = {Tayal, Manan and Singh, Aditya and Jagtap, Pushpak and Kolathaya, Shishir},
     booktitle = {International Conference on Intelligent Robots and Systems (IROS) Workshop on Safe and Reliable Learning for Robotics},
     year = {2024}
   }

4. ACC

   

   Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach

   Manan Tayal, Rajpal Singh, Jishnu Keshavan, and Shishir Kolathaya

   In 2024 American Control Conference (ACC), 2024

   DOI arXiv Bib Website

   @inproceedings{tayal2024control,
     author = {Tayal, Manan and Singh, Rajpal and Keshavan, Jishnu and Kolathaya, Shishir},
     booktitle = {2024 American Control Conference (ACC)},
     title = {Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach},
     year = {2024},
     pages = {3722-3727},
     doi = {10.23919/ACC60939.2024.10644548},
   }

5. ACC

   

   Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance

   Bhavya Giri Goswami^*, Manan Tayal^*, Karthik Rajgopal, Pushpak Jagtap, and Shishir Kolathaya

   In 2024 American Control Conference (ACC), 2024

   DOI arXiv Bib Website

   @inproceedings{goswami2024collision,
     author = {Goswami, Bhavya Giri and Tayal, Manan and Rajgopal, Karthik and Jagtap, Pushpak and Kolathaya, Shishir},
     booktitle = {2024 American Control Conference (ACC)},
     title = {Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance},
     year = {2024},
     pages = {325-331},
     doi = {10.23919/ACC60939.2024.10644338},
   }

6. ECC

   

   Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments

   Manan Tayal and Shishir Kolathaya

   In 2024 European Control Conference (ECC), 2024

   DOI arXiv Bib Website

   @inproceedings{tayal2024polygonal,
     title = {Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments},
     author = {Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 European Control Conference (ECC)},
     pages = {2212--2217},
     year = {2024},
     organization = {IEEE},
     doi = {10.23919/ECC64448.2024.10591026}
   }

7. ICCAR

   

   Stoch BiRo: Design and control of a low-cost bipedal robot

   GVS Mothish^*, Karthik Rajgopal^*, Ravi Kola^*, Manan Tayal, and Shishir Kolathaya

   In 2024 10th International Conference on Control, Automation and Robotics (ICCAR), 2024

   Bib Website

   @inproceedings{mothish2024stoch,
     title = {Stoch BiRo: Design and control of a low-cost bipedal robot},
     author = {Mothish, GVS and Rajgopal, Karthik and Kola, Ravi and Tayal, Manan and Kolathaya, Shishir},
     booktitle = {2024 10th International Conference on Control, Automation and Robotics (ICCAR)},
     pages = {135--140},
     year = {2024},
     organization = {IEEE}
   }

2023

1. ICC

   

   Collision cone control barrier functions for kinematic obstacle avoidance in ugvs

   Phani Thontepu^*, Bhavya Giri Goswami^*, Manan Tayal^*, Neelaksh Singh, Shyam Sundar PI, Shyam Sundar MG, Suresh Sundaram, Vaibhav Katewa, and Shishir Kolathaya

   In 2023 Ninth Indian Control Conference (ICC), 2023

   arXiv Bib

   @inproceedings{thontepu2023collision,
     title = {Collision cone control barrier functions for kinematic obstacle avoidance in ugvs},
     author = {Thontepu, Phani and Goswami, Bhavya Giri and Tayal, Manan and Singh, Neelaksh and PI, Shyam Sundar and MG, Shyam Sundar and Sundaram, Suresh and Katewa, Vaibhav and Kolathaya, Shishir},
     booktitle = {2023 Ninth Indian Control Conference (ICC)},
     pages = {293--298},
     year = {2023},
     organization = {IEEE}
   }

2. arXiv

   

   Safe legged locomotion using collision cone control barrier functions (c3bfs)

   Manan Tayal and Shishir Kolathaya

   arXiv preprint arXiv:2309.01898, 2023

   arXiv Bib Code

   @article{tayal2023safe,
     title = {Safe legged locomotion using collision cone control barrier functions (c3bfs)},
     author = {Tayal, Manan and Kolathaya, Shishir},
     journal = {arXiv preprint arXiv:2309.01898},
     year = {2023}
   }

2022

1. CyPhySS

   

   Realising the role of arms on improving the stability bipedal robots

   Manan Tayal and Shishir Kolathaya

   2022 Cyber Physical Systems Symposium (CyPhySS), 2022

   Bib

   @article{tayal2022realising,
     title = {Realising the role of arms on improving the stability bipedal robots},
     author = {Tayal, Manan and Kolathaya, Shishir},
     journal = {2022 Cyber Physical Systems Symposium (CyPhySS)},
     year = {2022}
   }

2021

1. IITB

   

   Travelling Salesman Problem: Parallel Implementations & Analysis

   Amey Gohil^*, Manan Tayal^*, Tezan Sahu, and Vyankatesh Sawalpurkar

   IIT Bombay, 2021

   Bib

   @article{gohil2021travelling,
     title = {Travelling Salesman Problem: Parallel Implementations \& Analysis},
     author = {Gohil, Amey and Tayal, Manan and Sahu, Tezan and Sawalpurkar, Vyankatesh},
     journal = {IIT Bombay},
     year = {2021}
   }