3 papers
cs.RO2026
Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward
Vaishnavi Jagabathula, P Sangeerth, Pushpak Jagtap
This paper addresses the control problem for robotic systems, including non-holonomic and underactuated platforms operating under unknown dynamics and strict actuator limits to sat…
eess.SY2025
Neural Control Barrier Functions for Signal Temporal Logic Specifications with Input Constraints
Vaishnavi Jagabathula, Pushpak Jagtap
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller syn…
eess.SY2025
Neural Network-based Co-design of Output-Feedback Control Barrier Function and Observer with Input Constraints
Vaishnavi Jagabathula, Ahan Basu, Pushpak Jagtap
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which…