129 citations · 211 across the 78 of their papers we have counts for
85 papers
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…