4 papers indexed
S. Saharsh, Vedhas Talnikar, Pushpak Jagtap
Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper…
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 online optimization, or do not explicitly account for input constraints. This paper presents a real-ti…
Ahan Basu, Ratnangshu Das, Soumyodipta Nath, Siyuan Liu, Pushpak Jagtap
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 of satisfying Signal Temporal Logic (STL) specifications, where confinement of the system trajectory…
Ratnangshu Das, Puneeth Shankar, Varuni Buereddy, Ravi Prakash, Pushpak Jagtap
We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with control for unknown Euler-Lagrange systems. Unlike traditional decoupled approaches that track a fixed reference, the proposed method treats demonstrations as a data-dri…