Related papers: CBF-Based Motion Planning for Socially Responsible…
A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…
This paper introduces a new framework for synthesizing time-varying control barrier functions (TV-CBFs) for general Signal Temporal Logic (STL) specifications using spatiotemporal tubes (STT). We first formulate the STT synthesis as a…
We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks with nested temporal operators or conflicting requirements…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a controller based on a set of simple optimization problems. Each of…
Signal Temporal Logic (STL) provides a powerful framework to describe complex tasks involving temporal and logical behavior in dynamical systems. This work addresses controller synthesis for continuous-time systems subject to STL…
This paper considers the safety-critical navigation problem with Signal Temporal Logic (STL) tasks. We developed an explicit reference governor-guided control barrier function (ERG-guided CBF) method that enables the application of…
Safe navigation of autonomous robots remains one of the core challenges in the field, especially in dynamic and uncertain environments. One of the prevalent approaches is safety filtering based on control barrier functions (CBFs), which are…
This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the…
Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically rely on fixed hyperparameters and per-step optimization,…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Signal Temporal Logic (STL) is an efficient technique for describing temporal constraints. It can play a significant role in robotic manipulation, for example, to optimize the robot performance according to task-dependent metrics. In this…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control…
Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
Control Barrier Functions (CBF) are widely used to enforce the safety-critical constraints on nonlinear systems. Recently, these functions are being incorporated into a path planning framework to design safety-critical path planners.…
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing…
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. Our method introduces a…