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.
Smooth converse Lyapunov-barrier theorems for asymptotic stability with safety constraints and reach-avoid-stay specifications.Automatica, 144:110478
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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.