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arXiv · 2605.03662

Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics

Panagiotis Rousseas·Dimos V. Dimarogonas
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Abstract

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.

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BibTeXRIS

Panagiotis Rousseas, Dimos V. Dimarogonas. 2026-05-05. Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics. https://arxiv.org/abs/2605.03662

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