Control Barrier Functions for Signal Temporal Logic Tasks
By Lars Lindemann, Dimos V. Dimarogonas. IEEE Control Systems Letters, 2019
387 citations recorded by the source corpus.
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, time-varying 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.
Subfields: Computational Theory and Mathematics, Computer Networks and Communications, Computer Vision and Pattern Recognition
View Paper: https://www.semanticscholar.org/paper/0a8878cc9a339e2f133436f1c1624d54a7cb30cd
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In Computational Theory and Mathematics
In Computer Networks and Communications
In Computer Vision and Pattern Recognition
Citations in the corpus
- Control Barrier Functions for Systems with High Relative Degree (2019, methodology): “Definition 3: (Control barrier function [8] [11]): Given a set C as in Eqn.”