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. ; QC 20201117
Control Barrier Functions for Signal Temporal Logic Tasks
2019-01-01
Scopus 2-s2.0-85057636597
Article (Journal)
Electronic Resource
English
Autonomous systems , constrained control , hybrid systems , Computational efficiency , Computer circuits , Multipurpose robots , Quadratic programming , Temporal logic , Computationally efficient , Constrained controls , Feedback control law , Multi-robot systems , Quadratic programs , Switching strategies , Temporal property , Time varying control systems , Control Engineering , Reglerteknik
DDC: | 629 |
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