Fixed-Time Convergent Control Barrier Functions for Coupled Multi-Agent Systems Under STL Tasks

TL;DR

This paper introduces a novel control approach using time-varying fixed-time convergent control barrier functions to ensure multi-agent systems satisfy complex temporal logic tasks within fixed time, despite conflicts and initial conditions.

Contribution

It proposes a new TFCBF-based control strategy for coupled multi-agent systems under STL tasks, guaranteeing fixed-time satisfaction regardless of initial states and conflicts.

Findings

Guarantees fixed-time satisfaction of STL tasks

Handles conflicts among agents' tasks robustly

Adjustable performance for task satisfaction

Abstract

This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks. In this framework, each agent is assigned a local STL task regradless of the tasks of other agents. Each task may be dependent on the behavior of other agents which may cause conflicts on the satisfaction of all tasks. Our approach finds a robust solution to guarantee the fixed-time satisfaction of STL tasks in a least violating way and independent of the agents' initial condition in the presence of undesired violation effects of the neighbor agents. Particularly, the robust performance of the task satisfactions can be adjusted in a user-specified way.