Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866909946729201664 |
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| author | Das, Ratnangshu Upadhyay, Siddhartha Jagtap, Pushpak |
| author_facet | Das, Ratnangshu Upadhyay, Siddhartha Jagtap, Pushpak |
| contents | This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic environments. To achieve this, we introduce a real-time spatiotemporal tube (STT) framework. An STT is defined as a time-varying ball in the state space whose center and radius adapt online using only real-time sensory input. A closed-form, approximation-free control law is then derived to constrain the system output within the STT, ensuring safety and task satisfaction. We provide formal guarantees for obstacle avoidance and on-time task completion. The effectiveness and scalability of the framework are demonstrated through simulations and hardware experiments on a mobile robot and an aerial vehicle, navigating in cluttered dynamic environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06151 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets Das, Ratnangshu Upadhyay, Siddhartha Jagtap, Pushpak Robotics Systems and Control This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic environments. To achieve this, we introduce a real-time spatiotemporal tube (STT) framework. An STT is defined as a time-varying ball in the state space whose center and radius adapt online using only real-time sensory input. A closed-form, approximation-free control law is then derived to constrain the system output within the STT, ensuring safety and task satisfaction. We provide formal guarantees for obstacle avoidance and on-time task completion. The effectiveness and scalability of the framework are demonstrated through simulations and hardware experiments on a mobile robot and an aerial vehicle, navigating in cluttered dynamic environments. |
| title | Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.06151 |