Control Barrier Functions for Signal Temporal Logic Tasks

摘要

The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. Existing methods are computationally demanding and hence often not applicable in practice. Especially with respect to multi-robot systems, these methods do not scale computationally. In this letter, we propose a framework that is based on control barrier functions and signal temporal logic. In particular, timevarying control barrier functions are considered where the temporal properties are used to satisfy signal temporal logic tasks. The resulting controller is given by a switching strategy between a computationally-efficient convex quadratic program and a local feedback control law.