{"ID":2832718,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.06151","arxiv_id":"2512.06151","title":"Real-Time Spatiotemporal Tubes for Dynamic Unsafe Sets","abstract":"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 spatiotemporal tube (STT) framework. An STT is defined as a time-varying ball in the state space whose center and radius adapt online using only real-time sensory input. A closed-form, approximation-free control law is then derived to constrain the system output within the STT, ensuring safety and task satisfaction. We provide formal guarantees for obstacle avoidance and on-time task completion. The effectiveness and scalability of the framework are demonstrated through simulations and hardware experiments on a mobile robot and an aerial vehicle, navigating in cluttered dynamic environments.","short_abstract":"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 spatiotemporal tube (STT) framework. An STT is defined as a time-varying ball in the s...","url_abs":"https://arxiv.org/abs/2512.06151","url_pdf":"https://arxiv.org/pdf/2512.06151v1","authors":"[\"Ratnangshu Das\",\"Siddhartha Upadhyay\",\"Pushpak Jagtap\"]","published":"2025-12-05T21:00:43Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}