24 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…
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…
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…
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…