3 papers
eess.SY2026
Approximation-Free Control Barrier Functions for Prescribed-Time Reach-Avoid of Unknown Systems
Shubham Sawarkar, Pushpak Jagtap
We study the prescribed-time reach-avoid (PT-RA) control problem for nonlinear systems with unknown dynamics operating in environments with moving obstacles. Unlike robust or learn…
eess.SY2026
Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
Shubham Sawarkar, P Sangeerth, S Saharsh +1
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generali…
eess.SY2026
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…