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arXiv · 2209.07478

Control Barrier Function Contracts for Vehicular Mission Planning Under Signal Temporal Logic Specifications

Muhammad Waqas·Nikhil Vijay Naik·Petros Ioannou·Pierluigi Nuzzo
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Abstract

We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of signal temporal logic (STL) is decomposed into predicates defined on non-overlapping time intervals. The STL predicates are then mapped to an aggregation of contracts associated with continuously differentiable time-varying control barrier functions. The barrier functions are used to constrain the lower-level control synthesis problem, which is solved via quadratic programming. Our approach can avoid the conservatism of previous methods for task-driven control based on under-approximations. We illustrate its effectiveness on a case study motivated by vehicular mission planning under safety constraints as well as constraints imposed by traffic regulations under vehicle-to-vehicle and vehicle-to-infrastructure communication.

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Muhammad Waqas, Nikhil Vijay Naik, Petros Ioannou, Pierluigi Nuzzo. 2022-09-20. Control Barrier Function Contracts for Vehicular Mission Planning Under Signal Temporal Logic Specifications. https://arxiv.org/abs/2209.07478

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