Publications

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Cumulative Publications

Journal Articles

2024
  1. Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
    Maximilian Albracht, Shivesh Kumar, Shubham Vyas, and Frank Kirchner
    2024
  2. Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
    Felix Wiebe, Shivesh Kumar, Lasse J. Shala, Shubham Vyas, Mahdi Javadi, and Frank Kirchner
    2024
2023
  1. AcroMonk: A Minimalist Underactuated Brachiating Robot
    Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, and Frank Kirchner
    2023
  2. Post-Capture Detumble Trajectory Stabilization for Robotic Active Debris Removal
    Shubham Vyas, Lasse Maywald, Shivesh Kumar, Marko Jankovic, Andreas Mueller, and Frank Kirchner
    2023
2022
  1. Momentum Based Classification for Robotic Active Debris Removal
    Shubham Vyas, Marko Jankovic, and Frank Kirchner
    2022
  2. Torque-Limited Simple Pendulum: A Toolkit for Gettingfamiliar with Control Algorithms in Underactuated Robotics
    Felix Wiebe, Jonathan Babel, Shivesh Kumar, Shubham Vyas, Daniel Harnack, Melya Boukheddimi, Mihaela Popescu, and Frank Kirchner
    2022

Conference Papers

2025
  1. Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
    Franek Stark, Jakob Middelberg, Dennis Mronga, and Shubham Vyas
    In IEEE International Conference on Robotics and Automation (ICRA), 2025
2024
  1. A Small Body Open-Source Dataset for Image Processing Algorithms
    Mattia Pugliatti, Shubham Vyas, Marko Jankovic, and Francesco Topputo
    In Proceedings of the 2024 CEAS EuroGNC Conference, 2024
  2. Gait Analysis and Control of Rimless Wheel Rovers for Planetary Exploration
    Dennis Schlee, Shubham Vyas, Rauĺ Domínguez, and Frank Kirchner
    In International Conference on Space Robotics (iSpaRo), 2024
  3. Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control
    Lasse Shala, Shubham Vyas, Mohamed Khalil Ben Larbi, Shivesh Kumar, and Enrico Stoll
    In Proceedings of the 2024 CEAS EuroGNC Conference, 2024
  4. Attitude Control of the Hydrobatic Intervention AUV Cuttlefish Using Incremental Nonlinear Dynamic Inversion
    Tom Slawik, Shubham Vyas, Leif Christensen, and Frank Kirchner
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
  5. Mixed Integer Model Predictive Control for a Free-Floating Platform with Binary and Continuous Actuation
    Franek Stark, Shubham Vyas, Georg Schildbach, and Frank Kirchner
    In Proceedings of the CEAS EuroGNC Conference, 2024
  6. Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition
    Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Chi Zhang, Theo Vincent, Shubham Vyas, Giulio Giacomuzzo, Ruggero Carli, Diego Romeres, Akhil Sathuluri, Markus Zimmermann, Boris Belousov, and 3 more authors
    In Proceedings of the Thirty-ThirdInternational Joint Conference on Artificial Intelligence, 2024
2023
  1. PerSim: Perception for Planetary Prospection and Internal Simulation
    Rauĺ Domínguez, Mariela De Lucas Alvarez, Siddhant Kadwe, Christoph Hertzberg, Siddhant Shete, Leon Cedric Danter, Marko Jankovic, Shubham Vyas, Jonas Eisenmenger, Pierre Willenbrock, Andre Felmet, Vikram Unnithan, and 1 more author
    In 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
  2. AUV Trajectory Optimization with Hydrodynamic Forces for Icy Moon Exploration
    Lukas Rust, Shubham Vyas, Bilal Wehbe, and Frank Kirchner
    In 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
  3. Linear Model Predictive Control for a Planar Free-Floating Platform: A Comparison of Binary Input Constraint Formulations
    Franek Stark, Shubham Vyas, Georg Schildbach, and Frank Kirchner
    In 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
  4. LQR For Free-Floating Robots: Theory and Experiments
    Shubham Vyas, Lasse Shala, and Anton Bredenbeck
    In 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023
2022
  1. Robot Dance Generation with Music Based Trajectory Optimization
    Melya Boukheddimi, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga, and Frank Kirchner
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  2. Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
    Anton Bredenbeck, Shubham Vyas, Martin Zwick, Dorit Borrmann, Miguel A. Olivares-Mendez, and A. Nüchter
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  3. Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform
    Anton Bredenbeck, Shubham Vyas, Willem Suter, Martin Zwick, Dorit Borrmann, Miguel Olivares-Mendez, and Andreas Nüchter
    In 16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2022
  4. Sequential Controller Compositiosn for Robotic Active Debris Removal
    Shubham Vyas
    In 2nd Stardust Conference, 2022
  5. Towards Sequential Controller Composition for Robotic Active Debris Removal
    Shubham Vyas
    In 6th CNES Space Debris Modeling & Remediation Workshop, 2022
  6. Quaternion Based LQR for Free-Floating Robots without Gravity
    Shubham Vyas, Bilal Wehbe, and Shivesh Kumar
    In 6th CEAS Conference on Guidance, Navigation and Control (EuroGNC), 2022
  7. RealAIGym: Education and Research Platform for Studying Athletic Intelligence
    Felix Wiebe, Shubham Vyas, Lasse Maywald, Shivesh Kumar, and Frank Kirchner
    In Proceedings of Robotics Science and Systems Workshop Mind the Gap: Opportunities and Challenges in the Transition Between Research and Industry, 2022
2021
  1. Region of Attraction Estimation for Robotic Spacecraft
    Lasse Maywald, Shubham Vyas, Marko Jankovic, and Mohamed Khalil Ben Larbi
    In Space Traffic Management and Resilient Space Environment Workshop, 2021
  2. Stabilization of Post-Capture Detumble Trajectories for Controller Composition.
    Shubham Vyas, Marko Jankovic, and Lasse Maywald
    In Space Traffic Management and Resilient Space Environment Workshop, 2021
2020
  1. Underwater Demonstrator for Autonomous In-Orbit Assembly of Large Structures
    Christian Ernst Siegfried Koch, Marko Jankovic, Sankaranarayanan Natarajan, Shubham Vyas, Wiebke Brinkmann, Vincent Bissonnette, Thierry Germa, Alessio Turetta, and Frank Kirchner
    In International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS), 2020
  2. Survey of Landing Methods on Small Bodies: Benefits of Robotics Manipulators to the Field
    Pelayo Penarroya, Shubham Vyas, Roberto Paoli, and Karl M Kajak
    In International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS), 2020
  3. Momentum Based Classification for Robotic Active Debris Removal
    Shubham Vyas, Marko Jankovic, and Frank Kirchner
    In 71th International Astronautical Congress (IAC), 2020
2018
  1. An Open-Source Tool for Automatic Thermal Conductor Generation for the Athena X-IFU Instrument
    Shubham Vyas
    In European Space Thermal Engineering Workshop, 2018
2017
  1. Uncertainty Estimation in Vision-based Space to Ground Teleoperation.
    Shubham Vyas
    In 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2017
2015
  1. Design and Development of an Earth Based Experimental Setup for Testing Algorithms on Space Robots
    Francis James, Shubham Vyas, Puneeth Bandikatla, P. Mithun, and S. V. Shah
    In Proceedings of the 2015 Conference on Advances In Robotics - AIR ’15, 2015