# Control Barrier Functions for Signal Temporal Logic Tasks

@article{Lindemann2019ControlBF, title={Control Barrier Functions for Signal Temporal Logic Tasks}, author={Lars Lindemann and D. Dimarogonas}, journal={IEEE Control Systems Letters}, year={2019}, volume={3}, pages={96-101} }

The need for computationally-efficient control methods of dynamical systems under temporal logic tasks has recently become more apparent. [...] Key Method 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. Expand

#### 82 Citations

Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks

- Computer Science, Engineering
- 2019 18th European Control Conference (ECC)
- 2019

This work proposes a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks and proposes a decentralized feedback control law based on time-varying control barrier functions. Expand

Barrier Function Based Collaborative Control of Multiple Robots Under Signal Temporal Logic Tasks

- Computer Science, Engineering
- IEEE Transactions on Control of Network Systems
- 2020

This work derives collaborative feedback control laws based on a decentralized control barrier function condition that results in discontinuous control laws, as opposed to a centralized condition resembling the single-agent case. Expand

Continuous-time Signal Temporal Logic Planning with Control Barrier Functions

- Computer Science, Mathematics
- 2020 American Control Conference (ACC)
- 2020

An offline trajectory planner for linear cyber-physical systems with continuous dynamics, where controls are generated by digital computers in discrete time is proposed, based on a Mixed Integer Quadratic Programming (MIQP) formulation that utilizes CBFs to produce system trajectories that are valid in continuous time. Expand

Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications

- Computer Science
- IEEE Transactions on Robotics
- 2021

A fully automatic framework that translates a user defined specification in temporal logic to a sequence of barrier function based quadratic programs is presented and it is proved that the resulting system trajectory synthesized by the proposed controller satisfies the given specification. Expand

Coupled Multi-Robot Systems Under Linear Temporal Logic and Signal Temporal Logic Tasks

- Computer Science
- IEEE Transactions on Control Systems Technology
- 2021

This brief presents the implementation and experimental results of two frameworks for multi-agent systems under temporal logic tasks, which were recently proposed, and proposes to combine the two aforementioned frameworks to use the strengths of both LTL and STL. Expand

Prescribed Performance Control Guided Policy Improvement for Satisfying Signal Temporal Logic Tasks

- Computer Science
- 2019 American Control Conference (ACC)
- 2019

This paper proposes to combine the benefits of the two approaches and use an efficient prescribed performance control (PPC) base law to guide exploration within the reinforcement learning algorithm. Expand

High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications

- Engineering, Computer Science
- 2021 American Control Conference (ACC)
- 2021

The proposed HOCLBFs can be used to guarantee the Boolean satisfaction of Signal Temporal Logic formulae over the state of the system and illustrate the approach on a safety-critical optimal control problem (OCP) for a unicycle. Expand

Gradient-Based STL Control with Application to Nonholonomic Systems

- Computer Science, Engineering
- ArXiv
- 2019

A class of controllers capable of providing satisfaction guarantees for simple systems and specifications is introduced and then extended for the case of unicycle-like dynamics, and the possibility of combining such controllers in order to tackle more complex task specifications while retaining their computational efficiency is examined. Expand

Control Barrier Functions for Multi-Agent Systems Under Conflicting Local Signal Temporal Logic Tasks

- Computer Science
- IEEE Control Systems Letters
- 2019

This work proposes a hybrid feedback control strategy using time-varying control barrier functions that finds least violating solutions in the aforementioned conflicting situations based on a suitable robustness notion and by initiating collaboration among agents. Expand

Control-Lyapunov and Control-Barrier Functions based Quadratic Program for Spatio-temporal Specifications

- Mathematics, Computer Science
- 2019 IEEE 58th Conference on Decision and Control (CDC)
- 2019

This is the first paper proposing a QP based method for the aforementioned problem of satisfying spatiotemporal specifications for nonlinear control-affine dynamics with input constraints, and it is shown that such spatio-temporal specifications can be translated into temporal logic formulas. Expand

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