129 citations · 211 across the 78 of their papers we have counts for
9 papers · 1 filter
RRT* Based Optimal Trajectory Generation with Linear Temporal Logic Specifications under Kinodynamic Constraints
Saksham Gautam, Ratnangshu Das, Pushpak Jagtap
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness…
Backstepping Design for Incremental Input-to-State Stabilization of Unknown Systems
David Smith Sundarsingh, Bhabani Shankar Dey, Pushpak Jagtap
Incremental stability of dynamical systems ensures the convergence of trajectories from different initial conditions towards each other rather than a fixed trajectory or equilibriu…
Spatiotemporal Tubes for Temporal Reach-Avoid-Stay Tasks in Unknown Systems
Ratnangshu Das, Ahan Basu, Pushpak Jagtap
The paper considers the controller synthesis problem for general MIMO systems with unknown dynamics, aiming to fulfill the temporal reach-avoid-stay task, where the unsafe regions…
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide sa…
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
Aryan Agarwal, Ravi Agrawal, Manan Tayal +2
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends…
Temporal Logic Resilience for Dynamical Systems
Adnane Saoud, Pushpak Jagtap, Sadegh Soudjani
We consider the notion of resilience for cyber-physical systems, that is, the ability of the system to withstand adverse events while maintaining acceptable functionality. We use f…
Barrier Functions Inspired Reward Shaping for Reinforcement Learning
Nilaksh Nilaksh, Abhishek Ranjan, Shreenabh Agrawal +3
Reinforcement Learning (RL) has progressed from simple control tasks to complex real-world challenges with large state spaces. While RL excels in these tasks, training time remains…
Learning a Formally Verified Control Barrier Function in Stochastic Environment
Manan Tayal, Hongchao Zhang, Pushpak Jagtap +2
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or s…
A Collision Cone Approach for Control Barrier Functions
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal +5
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We prop…