{"id":"https://openalex.org/W4415626672","doi":"https://doi.org/10.1109/tcns.2025.3626666","title":"Spatiotemporal Tubes-Based Control of Unknown Multiagent Systems for Temporal Reach\u2013Avoid\u2013Stay Tasks","display_name":"Spatiotemporal Tubes-Based Control of Unknown Multiagent Systems for Temporal Reach\u2013Avoid\u2013Stay Tasks","publication_year":2025,"publication_date":"2025-10-28","ids":{"openalex":"https://openalex.org/W4415626672","doi":"https://doi.org/10.1109/tcns.2025.3626666"},"language":null,"primary_location":{"id":"doi:10.1109/tcns.2025.3626666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2025.3626666","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control of Network Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114761623","display_name":"Ahan Basu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Ahan Basu","raw_affiliation_strings":["Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","Robert Bosch Centre for Cyber-Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I4210151956","https://openalex.org/I59270414"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber-Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056836426","display_name":"Ratnangshu Das","orcid":"https://orcid.org/0009-0004-5214-4791"},"institutions":[{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ratnangshu Das","raw_affiliation_strings":["Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","Robert Bosch Centre for Cyber-Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I4210151956","https://openalex.org/I59270414"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber-Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073867567","display_name":"Pushpak Jagtap","orcid":"https://orcid.org/0000-0002-5452-8850"},"institutions":[{"id":"https://openalex.org/I4210151956","display_name":"Robert Bosch (India)","ror":"https://ror.org/04my8ty22","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210151956","https://openalex.org/I889804353"]},{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Pushpak Jagtap","raw_affiliation_strings":["Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","Robert Bosch Centre for Cyber-Physical Systems, IISc, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I4210151956","https://openalex.org/I59270414"]},{"raw_affiliation_string":"Robert Bosch Centre for Cyber-Physical Systems, IISc, Bangalore, India","institution_ids":["https://openalex.org/I4210151956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5114761623"],"corresponding_institution_ids":["https://openalex.org/I4210151956","https://openalex.org/I59270414"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3678232,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"1","first_page":"227","last_page":"238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.4530999958515167,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.4530999958515167,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.28220000863075256,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.07580000162124634,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7006000280380249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.557699978351593},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5321000218391418},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5117999911308289},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4526999890804291},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.44020000100135803},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4059999883174896},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.38850000500679016}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7006000280380249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6557000279426575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.557699978351593},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5321000218391418},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4526999890804291},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.44020000100135803},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41830000281333923},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4059999883174896},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3659000098705292},{"id":"https://openalex.org/C2989514635","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization problem","level":3,"score":0.3634999990463257},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3569999933242798},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3515999913215637},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34860000014305115},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.32120001316070557},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.28839999437332153},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2757999897003174},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.2554999887943268}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcns.2025.3626666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2025.3626666","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control of Network Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1480909796","https://openalex.org/W1484786814","https://openalex.org/W2034743631","https://openalex.org/W2036548349","https://openalex.org/W2052725501","https://openalex.org/W2097121541","https://openalex.org/W2114426939","https://openalex.org/W2150335178","https://openalex.org/W2337661843","https://openalex.org/W2487779201","https://openalex.org/W2560504659","https://openalex.org/W2565972716","https://openalex.org/W2615395111","https://openalex.org/W2768629321","https://openalex.org/W2791524775","https://openalex.org/W2944522148","https://openalex.org/W2946780124","https://openalex.org/W3048348667","https://openalex.org/W3084158465","https://openalex.org/W3129616587","https://openalex.org/W3144995812","https://openalex.org/W3183183520","https://openalex.org/W3200237136","https://openalex.org/W3213240915","https://openalex.org/W4288939032","https://openalex.org/W4292071675","https://openalex.org/W4323914099","https://openalex.org/W4327956071","https://openalex.org/W4380450938","https://openalex.org/W4391021979","https://openalex.org/W4393183368","https://openalex.org/W4399039125","https://openalex.org/W4415180651","https://openalex.org/W7124180712"],"related_works":[],"abstract_inverted_index":{"The":[0,24,110],"paper":[1],"focuses":[2],"on":[3],"designing":[4],"a":[5,30,40,56,81,89],"controller":[6],"for":[7,17,34],"unknown":[8],"dynamical":[9],"multi-agent":[10],"systems":[11],"to":[12,28,71,95,125],"achieve":[13,72],"temporal":[14],"reach-avoid-stay":[15],"tasks":[16],"each":[18,35],"agent":[19,36],"while":[20,59],"preventing":[21],"inter-agent":[22],"collisions.":[23],"main":[25],"objective":[26],"is":[27,123,136],"generate":[29],"spatiotemporal":[31],"tube":[32],"(STT)":[33],"and":[37,43,64,86,118,146],"thereby":[38],"devise":[39],"closed-form,":[41],"approximation-free,":[42],"decentralized":[44],"control":[45,122],"strategy":[46],"that":[47],"ensures":[48],"the":[49,53,74,97,103,116,119,127,131,147],"system":[50],"trajectory":[51],"reaches":[52],"target":[54],"within":[55],"specific":[57],"time":[58],"avoiding":[60],"time-varying":[61],"unsafe":[62],"sets":[63],"collisions":[65],"with":[66],"other":[67,148],"agents.":[68],"In":[69],"order":[70],"this,":[73],"requirements":[75],"of":[76,99,106,133],"STTs":[77,111],"are":[78,112],"formulated":[79],"as":[80,153],"robust":[82],"optimization":[83,92],"problem":[84,93],"(ROP)":[85],"solved":[87],"using":[88],"sampling-based":[90],"scenario":[91],"(SOP)":[94],"address":[96],"issue":[98],"infeasibility":[100],"caused":[101],"by":[102,114],"infinite":[104],"number":[105],"constraints":[107],"in":[108],"ROP.":[109],"generated":[113],"solving":[115],"SOP,":[117],"corresponding":[120],"closed-form":[121],"designed":[124],"fulfill":[126],"specified":[128],"task.":[129],"Finally,":[130],"effectiveness":[132],"our":[134],"approach":[135],"demonstrated":[137],"through":[138],"two":[139],"case":[140],"studies,":[141],"one":[142],"involving":[143,149],"omnidirectional":[144],"robots":[145],"multiple":[150],"drones":[151],"modelled":[152],"Euler-Lagrange":[154],"systems.":[155]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-29T00:00:00"}