Non-Smooth Control Barrier Navigation Functions for STL Motion Planning

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Author(s)Zehfroosh, Ashkan
Author(s)Tanner, Herbert G.
Date Accessioned2022-06-09T16:06:40Z
Date Available2022-06-09T16:06:40Z
Publication Date2022-04-13
DescriptionThis article was originally published in Frontiers in Robotics and AI. The version of record is available at: https://doi.org/10.3389/frobt.2022.782783.en_US
AbstractThis paper reports on a new approach to Signal Temporal Logic (STL) control synthesis, that 1) utilizes a navigation function as the basis to construct a Control Barrier Function (CBF), and 2) composes navigation function-based barrier functions using nonsmooth mappings to encode Boolean operations between the predicates that those barrier functions encode. Because of these two key features, the reported approach 1) covers a larger fragment of STL compared to existing approaches, 2) alleviates the computational cost associated with evaluation of the control law for the system in existing STL control barrier function methodologies, and 3) simultaneously relaxes some of the conservativeness of smooth combinations of barrier functions as a means of implementing Boolean operators. The paper demonstrates the efficacy of this new approach with three simulation case studies, one aiming at illustrating how complex STL motion planning specification can be realized, the second highlights the less-conservativeness of the approach in comparison to the existing methods, and another that shows how this technology can be brought to bear to push the envelope in the context of human-robot social interaction.en_US
SponsorThis research was supported in part by NIH 5R01HD87133, and in part by NSF #2014264.en_US
CitationZehfroosh, Ashkan, and Herbert G. Tanner. 2022. “Non-Smooth Control Barrier Navigation Functions for STL Motion Planning.” Frontiers in Robotics and AI 9 (April): 782783. https://doi.org/10.3389/frobt.2022.782783.en_US
ISSN2296-9144
URLhttps://udspace.udel.edu/handle/19716/30972
Languageen_USen_US
PublisherFrontiers in Robotics and AIen_US
Keywordssignal temporal logicen_US
Keywordsrobot motion planningen_US
Keywordscontrol barrier functionen_US
Keywordsnavigation functionen_US
Keywordsautonomous systemsen_US
TitleNon-Smooth Control Barrier Navigation Functions for STL Motion Planningen_US
TypeArticleen_US
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