3 papers
eess.SY2025
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…
eess.SY2024
RRT* Based Optimal Trajectory Generation with Linear Temporal Logic Specifications under Kinodynamic Constraints
Saksham Gautam, Ratnangshu Das, Pushpak Jagtap
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness…
cs.RO2023
An anthropomorphic continuum robotic neck actuated by SMA spring-based multipennate muscle architecture
Ratnangshu Das, Yashaswi Sinha, Anirudha Bhattacharjee +1
This work presents a novel Shape Memory Alloy spring actuated continuum robotic neck that derives inspiration from pennate muscle architecture. The proposed design has 2DOF, and ex…