11 citations · 20 across the 9 of their papers we have counts for
10 papers
Online On-Demand Multi-Robot Coverage Path Planning
Ratijit Mitra, Indranil Saha
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synch…
STL-Based Synthesis of Feedback Controllers Using Reinforcement Learning
Nikhil Kumar Singh, Indranil Saha
Deep Reinforcement Learning (DRL) has the potential to be used for synthesizing feedback controllers (agents) for various complex systems with unknown dynamics. These systems are e…
DT*: Temporal Logic Path Planning in a Dynamic Environment
Priya Purohit, Indranil Saha
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that th…
MT* : Multi-Robot Path Planning for Temporal Logic Specifications
Dhaval Gujarathi, Indranil Saha
We address the path planning problem for a team of robots satisfying a complex high-level mission specification given in the form of an Linear Temporal Logic (LTL) formula. The sta…
Mobile Recharger Path Planning and Recharge Scheduling in a Multi-Robot Environment
Tanmoy Kundu, Indranil Saha
In many multi-robot applications, mobile worker robots are often engaged in performing some tasks repetitively by following pre-computed trajectories. As these robots are battery-p…
Synthesis of Feedback Controller for Nonlinear Control Systems with Optimal Region of Attraction
Ayan Chakraborty, Indranil Saha
We propose a framework for synthesizing a feedback control policy that maximizes the region of attraction (ROA) of a closed-loop nonlinear dynamical system. Our synthesis technique…
SPARCAS: A Decentralized, Truthful Multi-Agent Collision-free Path Finding Mechanism
Sankar Das, Swaprava Nath, Indranil Saha
We propose a decentralized collision-avoidance mechanism for a group of independently controlled robots moving on a shared workspace. Existing algorithms achieve multi-robot collis…
T* : A Heuristic Search Based Algorithm for Motion Planning with Temporal Goals
Danish Khalidi, Dhaval Gujarathi, Indranil Saha
Motion planning is the core problem to solve for developing any application involving an autonomous mobile robot. The fundamental motion planning problem involves generating a traj…
Synthesis of Minimal Error Control Software
Rupak Majumdar, Indranil Saha, Majid Zamani
Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a…
A Simplification of a Real-Time Verification Problem
Indranil Saha, Janardan Misra, Suman Roy
We revisit the problem of real-time verification with dense dynamics using timeout and calendar based models and simplify this to a finite state verification problem. To overcome t…