Learning Spatiotemporal Tubes for Full Class of Signal Temporal Logic Tasks for Control of Unknown Systems under Input Constraints

arXiv:2607.07136v1 Announce Type: new Abstract: This paper presents a Spatiotemporal Tube (STT)-based control framework for general unknown nonlinear Euler-Lagrange (EL) systems subject to input constraints, with the objective of satisfying Signal Temporal Logic (STL) specifications, where confinement of the system trajectory within the STT guarantees the satisfaction of the corresponding STL task. For both single and multi-agent scenarios, the STT corresponding to each agent is modeled as a tim...