Author

Pushpak Jagtap

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Preprint Sep 2026

Fast and Sample Efficient Safety Verification via Extreme Learning Machine

Deep learning methods like neural networks have greatly simplified the computation of safety certificates for complex nonlinear systems with unknown dynamics. However, due to the data-driven nature of these certificates and the complex architecture of neural networks, computation time as well as robustness guarantees a...

Ahan Basu, Mahathi Anand, Pushpak Jagtap · 0 citations

Preprint Aug 2026

Rigidity-Aware Formation Tracking under Sensing Range Constraints via Single Control Barrier Function Constraint

This paper presents a control framework for formation tracking and rigidity maintenance in heterogeneous multi-robot systems with nonlinear dynamics under sensing range constraints. Since formation tracking alone does not ensure rigidity maintenance with a limited sensing range, despite rigidity being a prerequisite fo...

S. Saharsh, Pushpak Jagtap · 0 citations

Preprint Sep 2026

Tractable Reinforcement Learning for Full Class of Signal Temporal Logic Specifications Using Spatiotemporal Tube Reward

This paper addresses the control problem for robotic systems, including non-holonomic and underactuated platforms operating under unknown dynamics and strict actuator limits to satisfy complex high-level specifications. We denote these high-level specifications using Signal Temporal Logic (STL) and propose a novel time...

Vaishnavi Jagabathula, P. Sangeerth, Pushpak Jagtap · 0 citations