相关论文: Spatiotemporal Tubes for Temporal Reach-Avoid-Stay…

The paper focuses on designing a controller for unknown dynamical multi-agent systems to achieve temporal reach-avoid-stay tasks for each agent while preventing inter-agent collisions. The main objective is to generate a spatiotemporal tube…

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. We develop a real-time tube synthesis procedure that…

In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by…

This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and…

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…

This paper presents a Spatiotemporal Tube (STT)-based control framework for general control-affine MIMO nonlinear pure-feedback systems with unknown dynamics to satisfy prescribed time reach-avoid-stay tasks under external disturbances. The…

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)…

Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing…

This paper provides a discretization-free solution to the synthesis of approx-imation-free closed-form controllers for unknown nonlinear systems to enforce complex properties expressed by $\omega$-regular languages, as recognized by…

This paper presents a decentralized control framework that incorporates social awareness into multi-agent systems with unknown dynamics to achieve prescribed-time reach-avoid-stay tasks in dynamic environments. Each agent is assigned a…

This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…

Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, which maximizes the probability that the state remains within…

This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal…

Reach-avoid analysis is fundamental to reasoning about the safety and goal-reaching behavior of dynamical systems, and serves as a foundation for specifying and verifying more complex control objectives. This paper introduces a reach-avoid…

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the…

This paper investigates the problem of designing control policies that satisfy high-level specifications described by signal temporal logic (STL) in unknown, stochastic environments. While many existing works concentrate on optimizing the…

Switching controllers play a pivotal role in directing hybrid systems (HSs) towards the desired objective, embodying a ``correct-by-construction'' approach to HS design. Identifying these objectives is thus crucial for the synthesis of…

We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…

In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…

In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…