Research

* - The authors have contributed equally and † - Project Lead

The entire list of publications can be seen on Google Scholar

Journal Articles

Submitted Papers

	Stochastic Neural Control Barrier Functions Hongchao Zhang, Manan Tayal, Jackson Cox, Pushpak Jagtap, Shishir Kolathaya, Andrew Clark Submitted to Transactions on Automatic Controls (TAC). [Paper]
	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 Submitted to Transactions on Control Systems Technology. [Paper]
	A Theoretical and Empirical Study on the Convergence of Adam with an Exact Constant Step Size in Non-Convex Settings Alokendu Mazumder, Manan Tayal*, Rishabh Sabharwal*, Bhartendu Kumar and Punit Rathore Submitted to Transactions on Artificial Intelligence. [Paper]

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Conference Papers

Submitted Papers

	CP-NCBF: A conformal prediction-based approach to synthesize verified Neural Control Barrier Functions Manan Tayal*, Aditya Singh*, Pushpak Jagtap, Shishir Kolathaya Submitted. [Paper]
	Neural Control Barrier Functions from Physics Informed Neural Networks Shreenabh Agrawal, Manan Tayal, Aditya Singh, Shishir Kolathaya Submitted to IEEE Conference on Decision and Control (CDC) , Rio de Janeiro, Brazil, 2025 [Paper]
	Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates Manan Tayal*, Aditya Singh*, Pushpak Jagtap and Shishir Kolathaya Submitted to IEEE Conference on Decision and Control (CDC) , Rio de Janeiro, Brazil, 2025 IROS 2024: Workshop on Formal Methods & Techniques in Robotic Systems [Project page] [Paper]

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2025

	A Physics Informed Machine Learning framework for Safe and Optimal Control of Autonomous Systems Manan Tayal*, Aditya Singh*, Shishir Kolathaya, Somil Bansal International Conference on Machine Learning (ICML) , Vancouver, Canada, 2025 [Paper] [Code]

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2024

	Learning a Formally Verified Control Barrier Function in Stochastic Environment Manan Tayal, Hongchao Zhang, Pushpak Jagtap, Andrew Clark, Shishir Kolathaya IEEE Conference on Decision and Control (CDC) , Milan, Italy, 2024 [Paper] [Code]
	BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains GVS Mothish, Manan Tayal, Shishir Kolathaya Indian Control Conference (ICC), Bhopal, India, 2024 [Project page] [Video] [Paper]
	Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach Manan Tayal, Rajpal Singh, Jishnu Keshavan, Shishir Kolathaya American Control Conference (ACC), Toronto, Canada, 2024 [Project page] [Paper]
	Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance Bhavya Giri Goswami *, Manan Tayal *, Karthik Rajgopal, Pushpak Jagtap, Shishir Kolathaya American Control Conference (ACC), Toronto, Canada, 2024 [Project page] [Paper]
	Polygonal Cone Control Barrier Functions for safe navigation in cluttered environments Manan Tayal, Shishir Kolathaya European Control Conference(ECC), Stockholm, Sweden, 2024 [Project page] [Paper]
	Stoch BiRo: Design and Control of a Bipedal Robot GVS Mothish*, Kathik Rajgopal*, Ravi Kola*, Manan Tayal†, Shishir Kolathaya IEEE International Conference on Controls, Automation and Robotics (ICCAR), Singapore, 2024 [Project page] [Video] [Paper]

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2023

	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, Shishir Kolathaya Indian Control Conference (ICC), Vizag, India, 2023 [Project page] [Video] [Paper]

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Pre-Prints/Workshops/Short Papers

2024

	Real Time Safety of Fixed-wing UAVs using Collision Cone CBFs Aryan Agarwal*, Ravi Agrawal*, Manan Tayal*, Pushpak Jagtap and Shishir Kolathaya Cyber Physical Systems Symposium (CyPhySS) , Bangalore, India, 2024 [Paper]

2023

	Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs) Manan Tayal, Shishir Kolathaya Arxiv Pre-print [Project page] [Paper]

2022

	Realising the role of arms in improving the stability of bipedal robots Manan Tayal and Shishir Kolathaya Cyber Physical Systems Symposium (CyPhySS) , Bangalore, India, 2022 [Paper]

2021

	Travelling Salesman Problem: Parallel Implementations & Analysis Amey Gohil*, Manan Tayal*, Tezan Sahu*, Venkatesh Sawalpurkar* HPSC workshop , IIT Bombay, 2021 [Paper]