Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866917384649965568 |
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| author | Das, Ratnangshu Basu, Ahan Verginis, Christos Jagtap, Pushpak |
| author_facet | Das, Ratnangshu Basu, Ahan Verginis, Christos Jagtap, Pushpak |
| contents | This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS) specifications. The approach employs circular spatiotemporal tubes (STTs), characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then analytically design a closed-form control that is computationally efficient and robust to disturbances. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_05495 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes Das, Ratnangshu Basu, Ahan Verginis, Christos Jagtap, Pushpak Robotics Systems and Control This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS) specifications. The approach employs circular spatiotemporal tubes (STTs), characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then analytically design a closed-form control that is computationally efficient and robust to disturbances. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency. |
| title | Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.05495 |