用时空管方法设计时序安全控制器，确保系统按时避障并保持在安全区。
Control Barrier Functions for Prescribed-time Reach-Avoid-Stay Tasks using Spatiotemporal Tubes
- 基于时空管框架动态构造控制屏障函数，统一处理空间与时间约束。
- 在全向机器人和带障碍无人机任务中验证，实现指定时间内安全到达目标。
- 适合需要精确时序与安全保证的自主系统设计，如智能驾驶、无人机导航。
指定时间内的到达-避开-停留（PT-RAS）规范在要求精确时序、状态约束与安全保证的应用中至关重要。尽管控制屏障函数（CBFs）已成为一种有前景的方法，能提供形式化安全保证，但构建满足PT-RAS规范的CBFs仍具挑战。本文提出一种基于时空管（STTs）框架的新方法，用于构造PT-RAS任务的CBFs。该框架可系统化设计动态管理空间与时间约束的CBFs，确保系统在安全操作区间内运行，并达成预定时序目标。所提方法通过两个案例验证：全向机器人的时序运动规划，以及带障碍物的无人机时序航点导航，均采用高阶CBFs。
原文摘要 · Abstract (English)
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing formal guarantees of safety, constructing CBFs that satisfy PT-RAS specifications remains challenging. In this paper, we present a novel approach using a spatiotemporal tubes (STTs) framework to construct CBFs for PT-RAS tasks. The STT framework allows for the systematic design of CBFs that dynamically manage both spatial and temporal constraints, ensuring the system remains within a safe operational envelope while achieving the desired temporal objectives. The proposed method is validated with two case studies: temporal motion planning of an omnidirectional robot and temporal waypoint navigation of a drone with obstacles, using higher-order CBFs.
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