The details regarding how to visit Chivatam and Undrajavaram have been mentioned in one of the previous postings:
http://subrahmanyamgorthi.blogspot.ch/2012/06/about-chivatam-and-undrajavaram.html
http://subrahmanyamgorthi.blogspot.ch/2012/06/about-chivatam-and-undrajavaram.html
Here are some of the pictures of those two places: