Non-Smooth Control Barrier Navigation Functions for STL Motion Planning

This 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...

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Detalles Bibliográficos
Autores principales: Zehfroosh, Ashkan, Tanner, Herbert G.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9044064/
https://www.ncbi.nlm.nih.gov/pubmed/35494541
http://dx.doi.org/10.3389/frobt.2022.782783

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9044064/
https://www.ncbi.nlm.nih.gov/pubmed/35494541
http://dx.doi.org/10.3389/frobt.2022.782783

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