5 papers
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…
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…
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.…
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…
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…