129 citations · 211 across the 78 of their papers we have counts for
61 papers · 1 filter
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…
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…
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…
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…
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…
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…
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…
Control Barrier Functions for the Full Class of Signal Temporal Logic Tasks using Spatiotemporal Tubes
Ratnangshu Das, Subhodeep Choudhury, Pushpak Jagtap
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal…
Spatiotemporal Tubes based Control of Unknown Multi-Agent Systems for Temporal Reach-Avoid-Stay Tasks
Ahan Basu, Ratnangshu Das, Pushpak Jagtap
The paper focuses on designing a controller for unknown dynamical multi-agent systems to achieve temporal reach-avoid-stay tasks for each agent while preventing inter-agent collisi…
Smooth Spatiotemporal Tube Synthesis for Prescribed-Time Reach-Avoid-Stay Control
Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap
In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upo…
Controller for Incremental Input-to-State Practical Stabilization of Partially Unknown systems with Invariance Guarantees
P Sangeerth, David Smith Sundarsingh, Bhabani Shankar Dey +1
Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed tr…
Periodic Event-Triggered Prescribed Time Control of Euler-Lagrange Systems under State and Input Constraints
Chidre Shravista Kashyap, Karnan A, Pushpak Jagtap +1
This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and te…
Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach
Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap
This paper presents a decentralized control framework that incorporates social awareness into multi-agent systems with unknown dynamics to achieve prescribed-time reach-avoid-stay…
Maximally Resilient Controllers under Temporal Logic Specifications
Youssef Ait Si, Ratnangshu Das, Negar Monir +3
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given tem…
Neural Network-based Co-design of Output-Feedback Control Barrier Function and Observer with Input Constraints
Vaishnavi Jagabathula, Ahan Basu, Pushpak Jagtap
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which…
Scalable and Approximation-free Symbolic Control for Unknown Euler-Lagrange Systems
Ratnangshu Das, Shubham Sawarkar, Pushpak Jagtap
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-ba…
Computation of Feasible Assume-Guarantee Contracts: A Resilience-based Approach
Negar Monir, Youssef Ait Si, Ratnangshu Das +3
We propose a resilience-based framework for computing feasible assume-guarantee contracts that ensure the satisfaction of temporal specifications in interconnected discrete-time sy…