A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.
Spatiotemporal tubes for temporal reach-avoid-stay tasks in unknown systems.IEEE Transactions on Automatic Control
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Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.