Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Claire J. Tomlin, S. Shankar Sastry, Koushil Sreenath, "Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning." Learning for Dynamics and Control (L4DC) 2020. [pdf]
Tyler Westenbroek, Fernando Castaneda, Ayush Argawal, S. Shankar Sastry, Koushil Sreenath, "Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics." [pdf]
Ayush Agrawal and Koushil Sreenath. "Bipedal Robotic Running on Stochastic Discrete Terrain ." European Controls Conference, 2019 [pdf]
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M Eva Mungai, Matthieu Masselin, Aaron D Ames, Koushil Sreenath, Jessy Grizzle . "Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking ." arXiv preprint arXiv:1802.08322, 2018 [pdf]
Xuning Yang, Ayush Agrawal, Koushil Sreenath, and Nathan Michael. "Online adaptive teleoperation via motion primitives for mobile robots." Special issue on Learning for Human-Robot Collaboration, Autonomous Robotics, 2018.
Ayush Agrawal and Koushil Sreenath, "Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation.", In Robotics: Science and Systems (RSS), 2017. [pdf]
Ayush Agrawal*, Omar Harib*, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron Ames, Koushil Sreenath, and Jessy Grizzle. "First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons." IEEE Access (2017). [*equal contribution] [pdf][video]
Ayush Agrawal, Hesham M. Zaini, Tony Dear, and Howie Choset. "Experimental Gait Analysis of Waveboard Locomotion." Proceedings of the ASME Dynamic Systems and Control Conference, Minneapolis, USA, October 2016. [pdf]