If I understand correctly, $l(\theta)$ expresses the length of the curve from its initial point to the point with polar angle $\theta$. Since the initial point is at $\theta=0$, the standard formula for length in polar coordinates gives
$$
l(\theta)= \int_0^\theta \sqrt{r'(t)^2+r(t)^2}\,dt
\tag1 $$
Differentiating both sides and squaring, we obtain a differential equation for $r$:
$$
r'(\theta)^2+r(\theta)^2 = (l\,'(\theta))^2
\tag2 $$
where the function $(l'(\theta))^2$ is known. This is a nonlinear ODE with no obvious (to me) simplifications. I think numerical or approximate solutions are necessary here.
For example, I took $K_0=K_1=1$, which simplifies a lot: $l\,'(\theta)=1/(1+\cos\theta)$. Then outsourced the job to Maple:
sol:=dsolve([diff(r(theta),theta)= sqrt(ls-r(theta)^2), r(0)=0],numeric, range=0..Pi/2);
odeplot(sol, [r(theta)*cos(theta),r(theta)*sin(theta)],thickness=3);
With these constants $r(\theta)$ is pretty close to $\theta/2$, so the curve looks like an Archimedean spiral.