6 citations · 22 across the 62 of their papers we have counts for
17 papers · 1 filter
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…
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…
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…