6 citations · 11 across the 28 of their papers we have counts for
29 papers
Spatiotemporal Tube-Based Safety-Certificate for Autonomous Navigation of Articulated Vehicles
Mohd. Faizuddin Faruqui, Ratnangshu Das, Ravi Kumar L +1
Articulated vehicles are the workhorses of freight transportation, and their autonomous navigation is challenging. Their physical characteristics and motion constraints pose signif…
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…
Energetic Resilience under Temporal Logic Specifications
Ratnangshu Das, Ram Padmanabhan, Melkior Ornik +1
In environments with uncertainties or undesirable influences, control systems can require additional energy to achieve their task while remaining resilient to these influences. In…
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.…
Learning Spatiotemporal Tubes for Temporal Reach-Avoid-Stay Tasks using Physics-Informed Neural Networks
Ahan Basu, Ratnangshu Das, Pushpak Jagtap
This paper presents a Spatiotemporal Tube (STT)-based control framework for general control-affine MIMO nonlinear pure-feedback systems with unknown dynamics to satisfy prescribed…
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…
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
Ratnangshu Das, Ahan Basu, Christos Verginis +1
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteei…
Control Barrier Functions for the Full Class of Signal Temporal Logic Tasks using Spatiotemporal Tubes
Ratnangshu Das, Subhodeep Choudhury, Pushpak Jagtap
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal…
Spatiotemporal Tubes based Control of Unknown Multi-Agent Systems for Temporal Reach-Avoid-Stay Tasks
Ahan Basu, Ratnangshu Das, Pushpak Jagtap
The paper focuses on designing a controller for unknown dynamical multi-agent systems to achieve temporal reach-avoid-stay tasks for each agent while preventing inter-agent collisi…
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…
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…
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…
Scalable and Approximation-free Symbolic Control for Unknown Euler-Lagrange Systems
Ratnangshu Das, Shubham Sawarkar, Pushpak Jagtap
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-ba…
Computation of Feasible Assume-Guarantee Contracts: A Resilience-based Approach
Negar Monir, Youssef Ait Si, Ratnangshu Das +3
We propose a resilience-based framework for computing feasible assume-guarantee contracts that ensure the satisfaction of temporal specifications in interconnected discrete-time sy…
Prescribed Performance Control of Unknown Euler-Lagrange Systems Under Input Constraints
Ratnangshu Das, Pushpak Jagtap
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The p…
Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes
Ratnangshu Das, Subhodeep Choudhury, Pushpak Jagtap
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate ST…
Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes
Mohd. Faizuddin Faruqui, Ratnangshu Das, Ravi Kumar L +1
This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown d…
Spatiotemporal Tubes based Controller Synthesis against Omega-Regular Specifications for Unknown Systems
Ratnangshu Das, Aiman Aatif Bayezeed, Pushpak Jagtap
This paper provides a discretization-free solution to the synthesis of approx-imation-free closed-form controllers for unknown nonlinear systems to enforce complex properties expre…
Control Barrier Functions for Prescribed-time Reach-Avoid-Stay Tasks using Spatiotemporal Tubes
Ratnangshu Das, Pranav Bakshi, Pushpak Jagtap
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier funct…