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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.19595 |
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| _version_ | 1866915569999020032 |
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| author | Das, Ratnangshu Choudhury, Subhodeep Jagtap, Pushpak |
| author_facet | Das, Ratnangshu Choudhury, Subhodeep Jagtap, Pushpak |
| contents | 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 robust optimization problem (ROP) and solve it through a scenario optimization problem (SOP), providing formal guarantees that the resulting tubes capture the given STL specifications. These STTs are then used to construct TV-CBFs, ensuring that under any control law rendering them invariant, the system satisfies the STL tasks. We demonstrate the framework through case studies on a differential-drive mobile robot and a quadrotor, and provide a comparative analysis showing improved efficiency over existing approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_19595 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Control Barrier Functions for the Full Class of Signal Temporal Logic Tasks using Spatiotemporal Tubes Das, Ratnangshu Choudhury, Subhodeep Jagtap, Pushpak Systems and Control 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 robust optimization problem (ROP) and solve it through a scenario optimization problem (SOP), providing formal guarantees that the resulting tubes capture the given STL specifications. These STTs are then used to construct TV-CBFs, ensuring that under any control law rendering them invariant, the system satisfies the STL tasks. We demonstrate the framework through case studies on a differential-drive mobile robot and a quadrotor, and provide a comparative analysis showing improved efficiency over existing approaches. |
| title | Control Barrier Functions for the Full Class of Signal Temporal Logic Tasks using Spatiotemporal Tubes |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.19595 |