10 citations · 14 across the 9 of their papers we have counts for
14 papers
From Optical Flow to Safety: Visual Safety Certification via Scale-Free Relative Motion
Bazeela Banday, Jishnu Keshavan
Safe autonomous navigation using monocular vision remains challenging because explicit obstacle states are not directly observable. This letter introduces a visual safety-certifica…
Adversarially Robust Geometric Safety Certificates for Nonholonomic Robots Against Maneuvering Obstacles
Chandan Kumar Sah, Bazeela Banday, Jishnu Keshavan
Safe navigation against obstacles that can actively maneuver within bounded capabilities remains challenging: robust control barrier function methods typically treat obstacle actio…
Derivative-Free Generalized Multivariable Super-Twisting Control for Constrained Euler-Lagrange Systems
Chidre Shravista Kashyap, Jishnu Keshavan
Robotic manipulators performing payload lift-and-transfer must track prescribed trajectories under abrupt load changes, with limited actuation and inaccurate plant knowledge. Such…
Port-Hamiltonian Koopman Operator Synthesis for Mechanical Systems
Rajpal Singh, Aditya Singh, Jishnu Keshavan
Finite-dimensional Koopman models enable efficient linear prediction and control of nonlinear robotic systems. However, models learned purely from trajectory data may violate the e…
Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters
Chandan Kumar Sah, Jishnu Keshavan
Multi-robot Control Barrier Function (CBF) safety filters can become infeasible, but a failed quadratic program (QP) does not indicate why the conflict occurred or how to resolve i…
SACK : Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan
Koopman operator theory provides a powerful framework for representing nonlinear dynamics through a linear operator acting on lifted observables, enabling the use of linear control…
Deep Robust Koopman Learning from Noisy Data
Aditya Singh, Rajpal Singh, Jishnu Keshavan
Koopman operator theory has emerged as a leading data-driven approach that relies on a judicious choice of observable functions to realize global linear representations of nonlinea…
Periodic Event-Triggered Prescribed Time Control of Euler-Lagrange Systems under State and Input Constraints
Chidre Shravista Kashyap, Karnan A, Pushpak Jagtap +1
This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and te…
Generalized Momenta-Based Koopman Formalism for Robust Control of Euler-Lagrangian Systems
Rajpal Singh, Aditya Singh, Chidre Shravista Kashyap +1
This paper presents a novel Koopman operator formulation for Euler Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decoupl…
Dynamics-Invariant Quadrotor Control using Scale-Aware Deep Reinforcement Learning
Varad Vaidya, Jishnu Keshavan
Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To add…
Tracking Control of Euler-Lagrangian Systems with Prescribed State, Input, and Temporal Constraints
Chidre Shravista Kashyap, Pushpak Jagtap, Jishnu Keshavan
The synthesis of a smooth tracking control for Euler-Lagrangian (EL) systems under stringent state, input, and temporal (SIT) constraints is challenging. In contrast to existing me…
Event-Based Adaptive Koopman Framework for Optic Flow-Guided Landing on Moving Platforms
Bazeela Banday, Chandan Kumar Sah, Jishnu Keshavan
This paper presents an optic flow-guided approach for achieving soft landings by resource-constrained unmanned aerial vehicles (UAVs) on dynamic platforms. An offline data-driven l…
Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems
Rajpal Singh, Chandan Kumar Sah, Jishnu Keshavan
The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a promin…
A Collision Cone Approach for Control Barrier Functions
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal +5
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We prop…