Control Of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications

by   Mohit Srinivasan, et al.

In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic (LTL). In particular, we consider a fragment of LTL which encompasses a large class of motion planning specifications for a robotic system. Control barrier functions (CBFs) have recently emerged as a convenient tool to guarantee reachability and safety for a system. In addition, they can be encoded as affine constraints in a quadratic program (QP). In the case of complex system specifications, we show that following QP based methods in existing literature can lead to infeasibility and hence we provide a method of composition of multiple barrier functions in order to mitigate infeasibility. A scheme to prioritize different barrier functions which allows the user to encode the notion of priority based control, is also introduced. We prove that the resulting system trajectory synthesized by the proposed controller satisfies the given specification. Robotic simulation and experimental results are provided in addition to the theoretical framework.



There are no comments yet.


page 1

page 11


Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic

In this paper, a method to synthesize controllers using finite time conv...

High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications

Recent work has shown that stabilizing an affine control system to a des...

Persistification of Robotic Tasks

In this paper we propose a control framework that enables robots to exec...

Rule-based Evaluation and Optimal Control for Autonomous Driving

We develop optimal control strategies for autonomous vehicles (AVs) that...

Barrier Functions for Multiagent-POMDPs with DTL Specifications

Multi-agent partially observable Markov decision processes (MPOMDPs) pro...

Recurrent Neural Network Controllers for Signal Temporal Logic Specifications Subject to Safety Constraints

We propose a framework based on Recurrent Neural Networks (RNNs) to dete...

BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning

For a nonlinear system (e.g. a robot) with its continuous state space tr...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.