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eess.SY2026
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…
eess.SY2025
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…
eess.SY2025
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…