Pushpak Jagtap

Fast and Sample Efficient Safety Verification via Extreme Learning Machine

Ahan Basu, Mahathi Anand, Pushpak Jagtap

Deep learning methods like neural networks have greatly simplified the computation of safety certificates for complex nonlinear systems with unknown dynamics. However, due to the d…

Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward

Vaishnavi Jagabathula, P Sangeerth, Pushpak Jagtap

This paper addresses the control problem for robotic systems, including non-holonomic and underactuated platforms operating under unknown dynamics and strict actuator limits to sat…

Rigidity-Aware Formation Tracking under Sensing Range Constraints via Single Control Barrier Function Constraint

S. Saharsh, Pushpak Jagtap

This paper presents a control framework for formation tracking and rigidity maintenance in heterogeneous multi-robot systems with nonlinear dynamics under sensing range constraints…

Spatiotemporal Tube-Based Safety-Certificate for Autonomous Navigation of Articulated Vehicles

Mohd. Faizuddin Faruqui, Ratnangshu Das, Ravi Kumar L +1

Articulated vehicles are the workhorses of freight transportation, and their autonomous navigation is challenging. Their physical characteristics and motion constraints pose signif…

From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing

S. Saharsh, Vedhas Talnikar, Pushpak Jagtap

Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes…

Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments

Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap

Safe navigation in dynamic environments is challenging when system dynamics are unknown and actuator inputs are limited. Existing methods either rely on accurate models, require on…

Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints

Ahan Basu, Ratnangshu Das, Soumyodipta Nath +2

This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective o…

Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems

Ratnangshu Das, Puneeth Shankar, Varuni Buereddy +2

We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with control for unknown Euler-Lagrange systems. Unlike traditional decoup…

Control Barrier Function only Formation Tracking in Multi-Agent Systems

S. Saharsh, Pushpak Jagtap

This paper presents a real-time control framework for formation tracking of heterogeneous multi-agent systems with non-linear dynamics. The proposed method formulates a single Cont…

Glycemic Safety Tube: A Provably Safe Control Framework for Artificial Pancreas Systems under Parametric Uncertainty

Pukhrambam Akash Singh, Ratnangshu Das, Ahan Basu +1

Type 1 diabetes eliminates the body's ability to produce insulin, making glucose regulation entirely dependent on external insulin delivery and the control algorithm. Existing clos…

Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots

Shubham Sawarkar, P Sangeerth, S Saharsh +1

This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generali…

Temporal Logic Resilience for Continuous-time Systems

Ratnangshu Das, Negar Monir, Youssef Ait Si +3

In this paper, we present a novel framework for quantifying a lower bound on resilience in continuous-time (non)linear systems subject to external disturbances while ensuring satis…

Resilient and Effort-Optimal Controller Synthesis under Temporal Logic Specifications

Youssef Ait Si, Ratnangshu Das, Negar Monir +3

In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given fin…

Energetic Resilience under Temporal Logic Specifications

Ratnangshu Das, Ram Padmanabhan, Melkior Ornik +1

In environments with uncertainties or undesirable influences, control systems can require additional energy to achieve their task while remaining resilient to these influences. In…

Towards Certified Sim-to-Real Transfer via Stochastic Simulation-Gap Functions

P Sangeerth, Abolfazl Lavaei, Pushpak Jagtap

This paper introduces the notion of stochastic simulation-gap function, which formally quantifies the gap between an approximate mathematical model and a high-fidelity stochastic s…

Input-to-State Stabilizing Neural Controllers for Unknown Switched Nonlinear Systems within Compact Sets

Bhabani Shankar Dey, Ahan Basu, Pushpak Jagtap

This paper develops a neural network based control framework that ensures system safety and input-to-state stability (ISS) for general nonlinear switched systems with unknown dynam…

Spatiotemporal Tubes for Probabilistic Temporal Reach-Avoid-Stay Task in Uncertain Dynamic Environment

Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap

In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles.…

Learning Spatiotemporal Tubes for Temporal Reach-Avoid-Stay Tasks using Physics-Informed Neural Networks

Ahan Basu, Ratnangshu Das, Pushpak Jagtap

This paper presents a Spatiotemporal Tube (STT)-based control framework for general control-affine MIMO nonlinear pure-feedback systems with unknown dynamics to satisfy prescribed…

Scalable Formal Verification of Incremental Stability in Large-Scale Systems Using Graph Neural Networks

Ahan Basu, Mahathi Anand, Pushpak Jagtap

This work proposes a novel distributed framework for verifying the incremental stability of large-scale systems with unknown dynamics and known interconnection structures using gra…

Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets

Ratnangshu Das, Siddhartha Upadhyay, Pushpak Jagtap

This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic en…

Neural Control Barrier Functions for Signal Temporal Logic Specifications with Input Constraints

Vaishnavi Jagabathula, Pushpak Jagtap

Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller syn…

Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes

Ratnangshu Das, Ahan Basu, Christos Verginis +1

This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteei…

Approximation-Free Control Barrier Functions for Prescribed-Time Reach-Avoid of Unknown Systems

Shubham Sawarkar, Pushpak Jagtap

We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learn…