Control Barrier Navigation Functions for STL Motion Planning
Ashkan Zehfroosh, Herbert G. Tanner · 2022 30th Mediterranean Conference on Control and Automation (MED) · 2022
This paper describes an approach to constructing control barrier functions that realize planning and control objectives that are expressed in a fragment of signal temporal logic. The particular construction is based on the navigation function method for robot motion planning and is attractive because it offers a straightforward way to design the robot control law that implements the signal temporal logic specification. The efficacy of the reported method is illustrated through simulation examples.