Spatiotemporal Tubes for Differential Drive Robots with Model Uncertainty

• URL: http://arxiv.org/abs/2512.05495v1
• Date: Fri, 05 Dec 2025 07:43:23 GMT
• Title: Spatiotemporal Tubes for Differential Drive Robots with Model Uncertainty
• Abstract summary: This paper presents a Spatiotemporal Tube (STT)-based control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances.<n>The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods.
• Score: 2.4919077201316067
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a Spatiotemporal Tube (STT)-based 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 STT, 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 design analytically a closed-form, approximation-free control law. The resulting controller is computationally efficient, robust to disturbances and {model uncertainties}, and requires no model approximations or online optimization. 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.

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