10 citations · 14 across the 9 of their papers we have counts for
9 papers · 1 filter
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…
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…
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…
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…