Control Barrier Functions for Signal Temporal Logic Tasks

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 sc...

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Bibliographic Details
Published inIEEE control systems letters Vol. 3; no. 1; pp. 96 - 101
Main Authors Lindemann, Lars, Dimarogonas, Dimos V.
Format Journal Article
LanguageEnglish
Published IEEE 01.01.2019
Subjects
Autonomous systems
Computational efficiency
Computationally efficient
Computer circuits
constrained control
Constrained controls
Feedback control
Feedback control law
hybrid systems
Multi-robot systems
Multipurpose robots
Planning
Quadratic programming
Quadratic programs
Semantics
Switches
Switching strategies
System dynamics
Task analysis
Temporal logic
Temporal property
Time varying control systems
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Summary: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.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2018.2853182