Control Barrier Functions for Prescribed-Time Reach-Avoid-Stay Tasks using Spatiotemporal Tubes

摘要

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 that 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 with obstacles for a multi-UAV payload carrying setup, using higher-order CBFs.