Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866913090735439872 |
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| author | Rousseas, Panagiotis Dimarogonas, Dimos V. |
| author_facet | Rousseas, Panagiotis Dimarogonas, Dimos V. |
| contents | In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control architecture unifies planning with control design. Concurrently, control barrier functions are designed on a transformed disk version of the original nonconvex and geometrically complex robotic workspace, thus amending the issue of deadlocks. Simulations of the proposed method indicate effective handling of multiple overlapping spatio-temporal tasks even in the face of input saturation. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2605_03662 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics Rousseas, Panagiotis Dimarogonas, Dimos V. Robotics Systems and Control In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control architecture unifies planning with control design. Concurrently, control barrier functions are designed on a transformed disk version of the original nonconvex and geometrically complex robotic workspace, thus amending the issue of deadlocks. Simulations of the proposed method indicate effective handling of multiple overlapping spatio-temporal tasks even in the face of input saturation. |
| title | Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2605.03662 |