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

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.

Source: arXiv:2605.03662v1 - http://arxiv.org/abs/2605.03662v1 PDF: https://arxiv.org/pdf/2605.03662v1 Original Link: http://arxiv.org/abs/2605.03662v1