arxiveess.SYcs.RO2026-07-09
Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments
Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap
Safe navigation in dynamic environments is challenging when system dynamics are unknown and actuator inputs are limited. Existing methods either rely on accurate models, require online optimization, or do not explicitly account for input constraints. This paper presents a real-ti…