2024/11/21 by Ratnangshu Das, Das, Ratnangshu, Ahan Basu +3 · 9 citations
Computer Science · Engineering · Psychology · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Human-Automation Interaction and Safety #Robotics (cs.RO) #Robotics and Automated Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2411.13834
openalex publication_date 2024/11/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The paper considers the controller synthesis problem for general MIMO systems with unknown dynamics, aiming to fulfill the temporal reach-avoid-stay task, where the unsafe regions are time-dependent, and the target must be reached within a specified time frame. The primary aim of the paper is to construct the spatiotemporal tube (STT) using a sampling-based approach and thereby devise a closed-form approximation-free control strategy to ensure that system trajectory reaches the target set while avoiding time-dependent unsafe sets. The proposed scheme utilizes a novel method involving STTs to provide controllers that guarantee both system safety and reachability. In our sampling-based framework, we translate the requirements of STTs into a Robust optimization program (ROP). To address the infeasibility of ROP caused by infinite constraints, we utilize the sampling-based Scenario optimization program (SOP). Subsequently, we solve the SOP to generate the tube and closed-form controller for an unknown system, ensuring the temporal reach-avoid-stay specification. Finally, the effectiveness of the proposed approach is demonstrated through three case studies: an omnidirectional robot, a SCARA manipulator, and a magnetic levitation system.