129 citations · 211 across the 78 of their papers we have counts for
16 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…
Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward
Vaishnavi Jagabathula, P Sangeerth, Pushpak Jagtap
This paper addresses the control problem for robotic systems, including non-holonomic and underactuated platforms operating under unknown dynamics and strict actuator limits to sat…
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…
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…
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…
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…
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…