{"ID":2832450,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.05495","arxiv_id":"2512.05495","title":"Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes","abstract":"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) specifications. The approach employs circular spatiotemporal tubes (STTs), characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then analytically design a closed-form control that is computationally efficient and robust to disturbances. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency.","short_abstract":"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) specifications. The approach employs circular spatiotemporal tubes (STTs), characte...","url_abs":"https://arxiv.org/abs/2512.05495","url_pdf":"https://arxiv.org/pdf/2512.05495v2","authors":"[\"Ratnangshu Das\",\"Ahan Basu\",\"Christos Verginis\",\"Pushpak Jagtap\"]","published":"2025-12-05T07:43:23Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}