Spatiotemporal Tubes for Probabilistic Temporal Reach-Avoid-Stay Task in Uncertain Dynamic Environment

Requirements:

• MATLAB R2025a or newer
• Statistics and Machine Learning Toolbox is required

Repository Contents:

• main_2D.m: Contains the STT implementation for a PrT-RAS implementation in a 2D environment for mobile robots.
• control.m: Contains controller implementation for 2D case
• compute_q_region: Contains code to plot uncertain unsafe set for 2D case
• Obstacles_data.zip: Contains .mat file for the 60 uncertain unsafe set in 2D case.
• main_3D: Contains the STT implementation for a PrT-RAS implementation in a 3D environment for quadcoptor systems.
• control.m: Contains controller implementation for 3D case

Citation

If you use this code in your research, please cite:
@ARTICLE{upadhyay2025spatiotemporal, author={Upadhyay, Siddhartha and Das, Ratnangshu and Jagtap, Pushpak}, journal={arXiv preprint arXiv:2512.21497}, title={Spatiotemporal Tubes for Probabilistic Temporal Reach-Avoid-Stay Task in Uncertain Dynamic Environment }, year={2025} volume={},
number={},
pages={},
doi={}
}

License

This repository is provided for research and educational use. Please contact the authors for other usage