129 citations · 211 across the 78 of their papers we have counts for
7 papers · 1 filter
Funnel-based Reward Shaping for Signal Temporal Logic Tasks in Reinforcement Learning
Naman Saxena, Gorantla Sandeep, Pushpak Jagtap
Signal Temporal Logic (STL) is a powerful framework for describing the complex temporal and logical behaviour of the dynamical system. Numerous studies have attempted to employ rei…
Temporal Waypoint Navigation of Multi-UAV Payload System using Barrier Functions
Nishanth Rao, Suresh Sundaram, Pushpak Jagtap
Aerial package transportation often requires complex spatial and temporal specifications to be satisfied in order to ensure safe and timely delivery from one point to another. It i…
Compositional Approximately Bisimilar Abstractions of Interconnected Systems
Belamfedel Alaoui Sadek, Saharsh, Pushpak Jagtap +1
This paper formulates and studies the concepts of approximate (alternating) bisimulation relations characterizing equivalence relations between interconnected systems and their abs…
Approximation-free Prescribed Performance Control with Prescribed Input Constraints
Pankaj K Mishra, Pushpak Jagtap
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints.…
Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes
Sandeep Gorantla, Jeel Chatrola, Jay Bhagiya +2
This paper aims to synthesize a reachability controller for an unknown dynamical system. We first learn the unknown system using Gaussian processes and the (probabilistic) guarante…
Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts
Siyuan Liu, Adnane Saoud, Pushpak Jagtap +2
In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnecte…
Distributed Consensus of Stochastic Multi-agent Systems with Prescribed Performance Constraints
Pushpak Jagtap, Dimos V. Dimarogonas
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics a…