6 citations · 11 across the 28 of their papers we have counts for
9 papers · 1 filter
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…
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…
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…
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…
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…