K Madhava Krishna

Multi-Modal Model Predictive Control Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving
Vivek K. Adajania, Aditya Sharma, Anish Gupta, Houman Masnavi, K. Madhava Krishna and Arun K. Singh
Published at RAL & ICRA, 2022   [Project Page]

Object Goal Navigation using Data Regularized Q-Learning
Nandiraju Gireesh, D. A. Sasi Kiran, Snehasis Banerjee, Mohan Sridharan, Brojeshwar Bhowmick,Madhava Krishna
Published at International Conference on Automation Science and Engineering (CASE), 2022   [Project Page]

Spatial Relation Graph and Graph Convolutional Network for Object Goal Navigation
D. A. Sasi Kiran, Kritika Anand, Chaitanya Kharyal, Gulshan Kumar, Nandiraju Gireesh, Snehasis Banerjee, Ruddra dev Roychoudhury, Mohan Sridharan, Brojeshwar Bhowmick, Madhava Krishna
Published at International Conference on Automation Science and Engineering (CASE), 2022   [Project Page]

Flow Synthesis Based Visual Servoing Frameworks for Monocular Obstacle Avoidance Amidst High-Rises
Harshit K. Sankhla,M. Nomaan Qureshi, Shankara Narayanan V.*, Vedansh Mittal, Gunjan Gupta, Harit Pandya and K. Madhava Krishna
Published at International Conference on Automation Science and Engineering (CASE), 2022   [Project Page]

Leveraging Distributional Bias For Reactive Collision Avoidance under Uncertainty: A Kernel Embedding Approach
Anish Gupta, Arun Kumar Singh and K. Madhava Krishna
Published at International Conference on Automation Science and Engineering (CASE), 2022   [Project Page]

UAV-based Visual Remote Sensing for Automated Building Inspection
Kushagra Srivastava⋆, Dhruv Patel⋆, Aditya Kumar Jha, Mohhit Kumar Jha, Jaskirat Singh, Ravi Kiran Sarvadevabhatla, Pradeep Kumar Ramancharla, Harikumar Kandath and K. Madhava Krishna
Published at European Conference on Computer Vision (ECCV), 2022   [Project Page]

Drift Reduced Navigation with Deep Explainable Features
Mohd Omama, Sundar Sripada V. S., Sandeep Chinchali, Arun Kumar Singh and K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022   [Project Page]

IndoLayout: Leveraging Attention for Extended Indoor Layout Estimation from an RGB Image
Shantanu Singh, Jaidev Shriram, Shaantanu Kulkarni, Brojeshwar Bhowmick and K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022   [Project Page]

MVRackLay: Monocular Multi-View Layout Estimation for Warehouse Racks and Shelves
Pranjali Pathre, Anurag Sahu, Ashwin Rao, Avinash Prabhu, Meher Shashwat Nigam, Tanvi Karandikar, Harit Pandya and K. Madhava Krishna
Published at IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022   [Project Page]

CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
Sudarshan S Harithas, Rishabh Dev Yadav, Deepak Singh, Arun Kumar Singh, K Madhava Krishna
Published at IEEE International Conference on Robotics and Automation (ICRA), 2022   [Project Page]

Imagine-2-Drive: Leveraging High-Fidelity World Models via Multi-Modal Diffusion Policies
Anant Garg, K Madhava Krishna
Published at 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   [Project Page]

Sensor Based Active Fault Tolerant Controller for Hexacopters
Munjaal Bhatt, Aakash Maniar, Aditya Mulgundkar, Deepak Gangadharan†, Harikumar Kandath
Published at 2025 11th International Conference on Automation, Robotics, and Applications   [Project Page]

GPALM-Multifunctional Underactuated Mechanism with Grasping, Perching, and Adaptive Landing Skills for Drone Applications
Deep Patel, Nagamanikandan Govindan, Manas Reddy Ramidi, Harikumar Kandath
Published at Journal of Mechanisms and Robotics   [Project Page]

An adversarial twin-agent inverse proximal policy optimization guided by model predictive control
Nikita Gupta, Harikumar Kandath, Hariprasad Kodamana
Published at Computers and Chemical Engineering Journal   [Project Page]

A task and motion planning framework using iteratively deepened AND/OR graph networks
Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni
Published at Robotics and Autonomous Systems Journal   [Project Page]

Engineering End-to-End Remote Labs Using IoT-Based Retrofitting
SAVITHA VISWANADH KANDALA , AKSHIT GUREJA , NAGESH WALCHATWAR, RISHABH AGRAWAL, SHIVEN SINHA , SACHIN CHAUDHARI , KARTHIK VAIDHYANATHAN, VENKATESH CHOPPELLA, PRABHAKAR BHIMALAPURAM,HARIKUMAR KANDATH AND AFTAB HUSSAIN
Published at IEEE Access   [Project Page]

DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control
Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi, Autrio Das, Gaurav Singh, Srinath Sridhar, Arun Kumar Singh, Nagamanikandan Govindan, K Madhava Krishna
Published at ICRA 2025   [Project Page]

AdaptBot: Combining LLM with Knowledge Graphs and Human Input for Generic-to-Specific Task Decomposition and Knowledge Refinement
Shivam Singh, Karthik Swaminathan, Nabanita Dash, Ramandeep Singh, Snehasis Banerjee, Mohan Sridharan, Madhava Krishna
Published at ICRA 2025   [Project Page]

CrowdSurfer: Sampling Optimization Augmented with Vector-Quantized Variational AutoEncoder for Dense Crowd Navigation
Naman Kumar, Antareep Singha, Laksh Nanwani*, Dhruv Potdar, Tarun R., Fatemeh Rastgar, Simon Idoko, Arun Kumar Singh, K. Madhava Krishna
Published at ICRA 2025   [Project Page]

Disentangling Planning and Control for Non-prehensile Tabletop Manipulation
Vishal Reddy Mandadi, Kallol Saha, Dipanwita Guhathakurta, M. Nomaan Qureshi, Aditya Agarwal, Bipasha Sen, Dipanjan Das, Brojeshwar Bhowmick, Arun Singh, and Madhava Krishna
Published at CASE 2023   [Project Page]

CLIPGraphs: Multimodal Graph Networks to Infer Object-Room Affinities
Ayush Agrawal, Raghav Arora, Ahana Datta, Snehasis Banerjee, Brojeshwar Bhowmick, Krishna Murthy Jatavallabhula, Mohan Sridharan, Madhava Krishna
Published at IEEE RO-MAN 2023   [Project Page]

Instance-Level Semantic Maps for Vision Language Navigation
Laksh Nanwani, Anmol Agarwal, Kanishk Jain, Raghav Prabhakar, Aaron Monis, Aditya Mathur, Krishna Murthy Jatavallabhula, A. H. Abdul Hafez, Vineet Gandhi, K. Madhava Krishna
Published at IEEE RO-MAN 2023   [Project Page]

UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps
Sudarshan S Harithas, Ayyappa Swamy Thatavarthy, Gurkirat Singh, Arun K Singh and K Madhava Krishna
Published at ACC 2023   [Project Page]

Learning Arc-Length Value Function for Fast Time-Optimal Pick and Place Sequence Planning and Execution
Prajwal Thakur, M. Nomaan Qureshi, Arun Kumar Singh, Y V S Harish, Pushkal Katara, Houman Masnavi, K. Madhava Krishna and Brojeshwar Bhowmick
Published at IJCNN 2023   [Project Page]

HyP-NeRF: Learning Improved NeRF Priors using a HyperNetwork
Bipasha Sen, Gaurav Singh, Aditya Agarwal, Rohith Agaram, K. Madhava Krishna, Srinath Sridhar
Published at NeurIPS 2023   [Project Page]

Conceptfusion: Open-set multimodal 3d mapping
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Tao Chen, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, Joshua B Tenenbaum, Celso Miguel de Melo, Madhava Krishna, Liam Paull, Florian Shkurti, Antonio Torralba
Published at RSS 2023   [Project Page]

Canonical Fields: Self-Supervised Learning of Pose-Canonicalized Neural Fields
Rohith Agaram, Shaurya Dewan, Rahul Sajnani, Adrien Poulenard, Madhava Krishna, Srinath Sridhar
Published at CVPR 2023   [Project Page]

Ground then Navigate: Language-guided Navigation in Dynamic Scenes
Kanishk Jain, Varun Chhangani, Amogh Tiwari, K Madhava Krishna, Vineet Gandhi
Published at ICRA 2023   [Project Page]

Sequence-Agnostic Multi-Object Navigation
Nandiraju Gireesh, Ayush Agrawal, Ahana Datta, Snehasis Banerjee, Mohan Sridharan, Brojeshwar Bhowmick, Madhava Krishna
Published at ICRA 2023   [Project Page]

SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping
Bipasha Sen, Aditya Agarwal, Gaurav Singh, Brojeshwar B., Srinath Sridhar, Madhava Krishna
Published at ICRA 2023   [Project Page]

GDIP: Object-Detection in Adverse Weather Conditions Using Gated Differentiable Image Processing
S Sanket Kalwar, Dhruv Patel, Aakash Aanegola, Krishna Reddy Konda, Sourav Garg, K Madhava Krishna
Published at ICRA 2023   [Project Page]

An annular event-triggered artificial time-delayed control-based guidance approach
Arunava Banerjee, Rajasree Sarkar, Joyjit Mukherjee, Spandan Roy
Published at Taylor & Francis (2024) Journal   [Project Page]

Optimized RainDNet: an efficient image deraining method with enhanced perceptual quality
Debesh Kumar Shandilya, Spandan Roy, Navjot Singh
Published at Signal, Image and Video Processing (2024) Journal   [Project Page]

Equilibrium Point Selection and Two Stage Optimal Control of Quadrotor Under Actuator Failure
Vidya C S, Harikumar Kandath
Published at 2024 12th International Conference on Control, Mechatronics and Automation (ICCMA)   [Project Page]

RaCIL: Ray Tracing based Multi-UAV Obstacle Avoidance through Composite Imitation Learning
Harsh Bansal* Vyom Goyal* Bhaskar Joshi Akhil Gupta Harikumar Kandath†
Published at IEEE 20th International Conference on Automation Science and Engineering (CASE)   [Project Page]

Attention Meets UAVs:A Comprehensive Evaluation of DDoS Detection in Low-Cost UAVs
Ashish Sharma, SVSLN Surya Suhas Vaddhiparthy, Sai Usha Goparaju,Deepak Gangadharan and Harikumar Kandath
Published at IEEE 20th International Conference on Automation Science and Engineering (CASE)   [Project Page]

CrackUDA: Incremental Unsupervised Domain Adaptation for Improved Crack Segmentation in Civil Structures
Kushagra Srivastava, Damodar Datta Kancharla, Rizvi Tahereen, Pradeep Kumar Ramancharla, Ravi Kiran Sarvadevabhatla, Harikumar Kandath
Published at International Conference on Pattern Recognition   [Project Page]

Deep RL based Obstacle Avoidance for UAVs with Time Varying sensor Bias
Aditya Kurande, Bhaskar Joshi, and Harikumar Kandath
Published at 2024 IEEE SENSORS   [Project Page]

Adaptive Tracking and Anti-Swing Control of Quadrotors Carrying Suspended Payload Under State-Dependent Uncertainty
Swati Dantu, Rishabh Dev Yadav , Ananth Rachakonda, Spandan Roy and Simone Baldi
Published at IEEE/ASME TRANSACTIONS ON MECHATRONICS   [Project Page]

Adaptive Control of Quadrotor under Actuator Loss and Unknown State-dependent Dynamics
Saksham Gupta, Amitabh Sharma, Aditya Mulgundkar, Rishabh Dev Yadav, Spandan Roy
Published at IEEE 20th International Conference on Automation Science and Engineering (CASE)   [Project Page]

A Hierarchical Manipulation Planning Framework Combining Striking,Pushing, and Pick & Place Motion Primitives
Prakrut Kotecha, Priyansh Sinha, Nagamanikandan Govindan
Published at IEEE 20th International Conference on Automation Science and Engineering (CASE)   [Project Page]

Modular Adaptive Aerial Manipulation Under Unknown Dynamic Coupling Forces
Rishabh Dev Yadav, Swati Dantu, Wei Pan, Sihao Sun, Spandan Roy, Simone Baldi
Published at IEEE/ASME TRANSACTIONS ON MECHATRONICS   [Project Page]

Open-Set 3D Semantic Instance Maps for Vision Language Navigation — O3D-SIM
Laksh Nanwani, Kumaraditya Gupta, Aditya Mathur, Swayam Agrawal, A.H. Abdul Hafez, K. Madhava Krishna
Published at Advanced Robotics - Taylor and Francis - 2024   [Project Page]

Identification and Learning-Based Control of an End-Effector for Targeted Throwing
Haasith Venkata Sai Pasala, Nagamanikandan Govindan, and Samarth Brahmbhatt
Published at IEEE ROBOTICS AND AUTOMATION LETTERS   [Project Page]

Revisit Anything: Visual Place Recognition via Image Segment Retrieval
Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya, Madhava Krishna, and Sourav Garg
Published at ECCV 2024   [Project Page]

Leveraging Cycle-Consistent Anchor Points for Self-Supervised RGB-D Registration
Siddharth Tourani, Jayaram Reddy, Sarvesh Thakur,K Madhava Krishna, Muhammad Haris Khan, N Dinesh Reddy
Published at ICRA 2024   [Project Page]

Design and Analysis of a Modular Flapping Wing Robot with a Swappable Powertrain Module
Snehit Gupta, K P Rithwik, Kurva Prashanth, Avijit Ashe, Harikumar Kandath
Published at ICMA 2024   [Project Page]

QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding
Yash Mehan, Kumaraditya Gupta, Rohit Jayanti, Anirudh Govil, Sourav Garg, and Madhava Krishna
Published at IROS 2024   [Project Page]

DiffPrompter: Differentiable Implicit Visual Prompts for Semantic-Segmentation in Adverse Conditions
Sanket Kalwar, Mihir Ungarala, Shruti Jain, Aaron Monis, Krishna Reddy Konda, Sourav Garg, K Madhava Krishna
Published at IROS 2024   [Project Page]

Imagine2Servo: Intelligent Visual Servoing with Diffusion-Driven Goal Generation for Robotic Tasks
Pranjali Pathre, Gunjan Gupta, M. Nomaan Qureshi, Mandyam Brunda, Samarth Brahmbhatt, K. Madhava Krishna
Published at IROS 2024   [Project Page]

Bi-level Trajectory Optimization on Uneven Terrains with Differentiable Wheel-Terrain Interaction Model
Amith Manoharan, Aditya Sharma, Himani Belsare, Kaustab Pal, K. Madhava Krishna, Arun Kumar Singh
Published at IROS 2024   [Project Page]

LeGo-Drive: Language-enhanced Goal-oriented Closed-Loop End-to-End Autonomous Driving
Pranjal Paul, Anant Garg, Tushar Choudhary, Arun Kumar Singh, K. Madhava Krishna
Published at IROS 2024   [Project Page]

Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation
Gaurav Singh, Sanket Kalwar, Md Faizal Karim, Bipasha Sen, Nagamanikandan Govindan, Srinath Sridhar and K Madhava Krishna
Published at IROS 2024   [Project Page]

A dynamic area approximation-based stochastic multi-UAV target search with noisy measurements
P. Gokul, K. Harikumar and J. Senthilnath
Published at 2024 International Conference on Unmanned Aircraft Systems (ICUAS)   [Project Page]

An Efficient Approach With Dynamic Multiswarm of UAVs for Forest Firefighting
Josy John, K. Harikumar, J. Senthilnath and Suresh Sundaram
Published at IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS SYSTEMS   [Project Page]

Metacognitive Decision-Making Framework for Multi-UAV Target Search Without Communication
J. Senthilnath, K. Harikumar, Suresh Sundaram
Published at IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS SYSTEMS   [Project Page]

Distributed Adaptive Synchronization in Euler-Lagrange Networks With Uncertain Interconnections
Tian Tao, Spandan Roy, Bart De Schutter and Simone Baldi
Published at IEEE TRANSACTIONS ON AUTOMATIC CONTROL   [Project Page]

Adaptive Synchronization of Uncertain Underactuated Euler-Lagrange Agents
Tian Tao, Spandan Roy, Bart De Schutter and Simone Baldi
Published at IEEE TRANSACTIONS ON AUTOMATIC CONTROL   [Project Page]

Introducing Switched Adaptive Control for Self-Reconfigurable Mobile Cleaning Robots
Madan Mohan Rayguru, Spandan Roy, Lim Yi, Mohan Rajesh Elara and Simone Baldi
Published at IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING   [Project Page]

Sim-to-Real Deep Reinforcement Learning based Obstacle Avoidance for UAVs under Measurement Uncertainty
Bhaskar Joshi, Dhruv Kapur, Harikumar Kandath
Published at ICARA 2024   [Project Page]

MPC-based obstacle aware multi-UAV formation control under imperfect communication
Vikrant Dewangan, Harikumar Kandath
Published at ICARA 2024   [Project Page]

Leveraging Latent Temporal Features for Robust Fault Detection and Isolation in Hexacopter UAVs
Shivaan Sehgal, Aakash Maniar, Harikumar Kandath, Deepak Gangadharan
Published at ICARA 2024   [Project Page]

Talk2BEV: Language-enhanced Bird’s-eye View Maps for Autonomous Driving
Vikrant Dewangan, Tushar Choudhary, Shivam Chandhok, Shubham Priyadarshan, Anushka Jain, Arun K. Singh, Siddharth Srivastava, Krishna Murthy Jatavallabhula, K. Madhava Krishna
Published at ICRA 2024   [Project Page]

ATPPNet: Attention based Temporal Point cloud Prediction Network
Kaustab Pal, Aditya Sharma, Avinash Sharma, K. Madhava Krishna
Published at ICRA 2024   [Project Page]

Anticipate & Act: Integrating LLMs and Classical Planning for Efficient Task Execution in Household Environments
Raghav Arora, Shivam Singh, Karthik Swaminathan, Ahana Datta, Snehasis Banerjee, Brojeshwar Bhowmick, Krishna Murthy Jatavallabhula, Mohan Sridharan, Madhava Krishna
Published at ICRA 2024   [Project Page]

LIP-Loc: LiDAR Image Pretraining for Cross-Modal Localization
Sai Shubodh, Mohammad Omama, Husain Zaidi, Udit Singh Parihar, K Madhava Krishna
Published at WACV 2024   [Project Page]

EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
Kallol Saha, Vishal Mandadi, Jayaram Reddy, Ajit Srikanth, Aditya Agarwal, Bipasha Sen, Arun Singh and Madhava Krishna
Published at ICRA 2024   [Project Page]

FinderNet: A Data Augmentation Free Canonicalization aided Loop Detection and Closure technique for Point clouds in 6-DOF separation
Sudarshan S, Harithas Gurkirat, Singh Aneesh Chavan, Sarthak Sharma, Suraj Patni, Chetan Arora, Madhava Krishna
Published at WACV 2024   [Project Page]

AnyLoc: Towards Universal Visual Place Recognition
Nikhil Keetha, Avneesh Mishra, Jay Karhade, Krishna Murthy Jatavallabhula, Sebastian Scherer, Madhava Krishna, Sourav Garg
Published at ICRA 2024   [Project Page]

Monocular Multi-Layer Layout Estimation for Warehouse Racks
Meher Shashwat Nigam, Avinash Prabhu, Anurag Sahu, Tanvi Karandikar, Puru Gupta,N. Sai Shankar,Ravi Kiran Sarvadevabhatla and K. Madhava Krishna
Published at Indian Conference on Computer Vision, Graphics & Image Processing (ICVGIP), 2021   [Project Page]

GCExp: Goal-Conditioned Exploration for Object Goal Navigation
Gulshan Kumar, N. Sai Shankar, Himansu Didwania, R.D. Roychoudhury, Brojeshwar Bhowmick, and K. Madhava Krishna
Published at IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2021   [Project Page]

Model predictive control based algorithm for multi-target tracking using a swarm of fixed wing UAVs
Animesh Sahu, Harikumar Kandath and K. Madhava Krishna
Published at IEEE International Conference on Automation Science and Engineering (CASE), 2021   [Project Page]

Maneuvering Intersections & Occlusions Using MPC-Based Prioritized Tracking for Differential Drive Person Following Robot*
Avijit Kumar Ashe and K. Madhava Krishna
Published at IEEE International Conference on Automation Science and Engineering (CASE), 2021   [Project Page]

Followman: Control of Social Person Following Robot*
Avijit Kumar Ashe and K. Madhava Krishna
Published at IEEE Intelligent Vehicles Symposium (IV), 2021   [Project Page]

Probabilistic Collision Avoidance For Multiple Robots: A Closed Form PDF Approach
Josyula Gopala Krishna, Anirudha Ramesh and K.Madhava Krishna
Published at IEEE Intelligent Vehicles Symposium (IV), 2021   [Project Page]

RTVS: A Lightweight Differentiable MPC Framework for Real-Time Visual Servoing
Mohammad Nomaan Qureshi, Pushkal Katara, Abhinav Gupta*, Harit Pandya, Harish Y V S, AadilMehdi Sanchawala, Gourav Kumar, Brojeshwar Bhowmick, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

Modular Pipe Climber III with Three-Output Open Differential
Rama Vadapalli*, Saharsh Agarwal, Vishnu Kumar, Kartik Suryavanshi, Nagamanikandan Govindan, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta, Satyajit Tourani, Sourav Garg, Michael Milford, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

Grounding Linguistic Commands to Navigable Regions
Nivedita Rufus*, Kanishk Jain, Unni Krishnan R Nair, Vineet Gandhi, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]

RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
Karnik Ram*, Chaitanya Kharyal, Sudarshan S. Harithas, K. Madhava Krishna
Published at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)   [Project Page]