129 citations · 211 across the 78 of their papers we have counts for
32 papers · 1 filter
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…
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…
Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets
Ratnangshu Das, Siddhartha Upadhyay, Pushpak Jagtap
This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic en…
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…
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
Ratnangshu Das, Ahan Basu, Christos Verginis +1
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteei…
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…
Signal Temporal Logic Compliant Co-design of Planning and Control
Manas Sashank Juvvi, Tushar Dilip Kurne, Vaishnavi J +2
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i…
Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
Aditya Singh, Aastha Mishra, Manan Tayal +2
Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce…
Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems
Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen +4
Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One es…
Prescribed Performance Control of Unknown Euler-Lagrange Systems Under Input Constraints
Ratnangshu Das, Pushpak Jagtap
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The p…
Stochastic Neural Control Barrier Functions
Hongchao Zhang, Manan Tayal, Jackson Cox +3
Control Barrier Functions (CBFs) are utilized to ensure the safety of control systems. CBFs act as safety filters in order to provide safety guarantees without compromising system…
Quantification of Sim2Real Gap via Neural Simulation Gap Function
P Sangeerth, Pushpak Jagtap
In this paper, we introduce the notion of neural simulation gap functions, which formally quantifies the gap between the mathematical model and the model in the high-fidelity simul…
Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes
Ratnangshu Das, Subhodeep Choudhury, Pushpak Jagtap
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate ST…