Devansh Agrawal

Role: PhD Aerospace (2020 - 2025)

Now: Control Engineer @ Rotor

link / email /

Papers

Online Safety under Multiple Constraints and Input Bounds using gatekeeper: Theory and Applications

Devansh Agrawal Dimitra Panagou

IEEE L-CSS 2025

pdf / code /

Fusion of Indirect Methods and Iterative Learning for Persistent Velocity Trajectory Optimization of a Sustainably Powered Autonomous Surface Vessel

Kavin M. Govindarajan Devansh Agrawal Dimitra Panagou Christopher Vermillion

IEEE Conference on Control Technology and Applications (CCTA) 2025

code / arxiv /

Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift

Devansh Agrawal Taekyung Kim Rajiv Govindjee Trushant Adeshara Jiangbo Yu Anuerkha Ravikumar Dimitra Panagou

RSS 2025

project page / video / code / arxiv /

Multi-Agent Clarity-Aware Dynamic Coverage with Gaussian Processes

Devansh Agrawal Dimitra Panagou

IEEE CDC 2024

pdf / code / arxiv /

gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments

Devansh Agrawal Ruichang Chen Dimitra Panagou

IEEE T-RO 2024

code / link / arxiv / bib /

@inproceedings{agrawal2024gatekeeper,
  title={gatekeeper: Online safety verification and control for nonlinear systems in dynamic environments},
  author={Agrawal, Devansh and Chen, Ruichang and Panagou, Dimitra},
  booktitle={{IEEE Transactions on Robotics},
  year={2024},
  volume={40},
  number={},
  pages={4358-4375},
  organization={IEEE}
}

Eclares: Energy-Aware Clarity-Driven Ergodic Search

Kaleb Ben Naveed Devansh Agrawal Christopher Vermillion Dimitra Panagou

IEEE ICRA 2024

pdf / video / code / link / arxiv / bib /

@inproceedings{naveed2024eclares,
  title={Eclares: Energy-aware clarity-driven ergodic search},
  author={Naveed, Kaleb Ben and Agrawal, Devansh and Vermillion, Christopher and Panagou, Dimitra},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={14326--14332},
  year={2024},
  organization={IEEE}
}

Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems

Kunal Garg James Usevitch Joseph Breeden Mitchell Black Devansh Agrawal Hardik Parwana Dimitra Panagou

Annual Reviews in Control 2024

pdf / link / bib /

@article{garg2024advances,
  title={Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems},
  author={Garg, Kunal and Usevitch, James and Breeden, Joseph and Black, Mitchell and Agrawal, Devansh and Parwana, Hardik and Panagou, Dimitra},
  journal={Annual Reviews in Control},
  volume={57},
  pages={100945},
  year={2024},
  publisher={Elsevier}
}

gatekeeper: Online safety verification and control for nonlinear systems in dynamic environments

Devansh Agrawal Ruichang Chen Dimitra Panagou

IEEE IROS 2023

pdf / code / link / arxiv / bib /

@inproceedings{agrawal2023gatekeeper,
  title={gatekeeper: Online safety verification and control for nonlinear systems in dynamic environments},
  author={Agrawal, Devansh and Chen, Ruichang and Panagou, Dimitra},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={259--266},
  year={2023},
  organization={IEEE}
}

Sensor-based Planning and Control for Robotic Systems: Introducing Clarity and Perceivability

Devansh Agrawal Dimitra Panagou

IEEE L-CSS and CDC 2023

pdf / link / bib /

@article{agrawal2023sensor,
  title={Sensor-based planning and control for robotic systems: Introducing clarity and perceivability},
  author={Agrawal, Devansh R and Panagou, Dimitra},
  journal={IEEE Control Systems Letters},
  year={2023},
  publisher={IEEE}
}

A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems

Devansh Agrawal Hardik Parwana Ryan K Cosner Ugo Rosolia Aaron D Ames Dimitra Panagou

IEEE L-CSS and ACC 2022

pdf / code / link / bib /

@ARTICLE{9655322,
  author={Agrawal, Devansh R. and Parwana, Hardik and Cosner, Ryan K. and Rosolia, Ugo and Ames, Aaron D. and Panagou, Dimitra},
  journal={IEEE Control Systems Letters},
  title={A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems},
  year={2022},
  volume={6},
  number={},
  pages={2138-2143},
  doi={10.1109/LCSYS.2021.3136465}
}

Safe and robust observer-controller synthesis using control barrier functions

Devansh Agrawal Dimitra Panagou

IEEE L-CSS and CDC 2022

pdf / code / link / bib /

@article{agrawal2022safe,
  title={Safe and robust observer-controller synthesis using control barrier functions},
  author={Agrawal, Devansh R and Panagou, Dimitra},
  journal={IEEE Control Systems Letters},
  volume={7},
  pages={127--132},
  year={2022},
  publisher={IEEE}
}

Safe Control Synthesis via Input Constrained Control Barrier Functions

Devansh Agrawal Dimitra Panagou

IEEE CDC 2021

pdf / code / link / bib /

@INPROCEEDINGS{9682938,
  author={Agrawal, Devansh R. and Panagou, Dimitra},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  title={Safe Control Synthesis via Input Constrained Control Barrier Functions},
  year={2021},
  volume={},
  number={},
  pages={6113-6118},
  doi={10.1109/CDC45484.2021.9682938}
}