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cs.RO2025
Spatiotemporal Tubes for Probabilistic Temporal Reach-Avoid-Stay Task in Uncertain Dynamic Environment
Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap
In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles.…
cs.RO2025
Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets
Ratnangshu Das, Siddhartha Upadhyay, Pushpak Jagtap
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 en…