A hybrid modeling approach unifies planning and control for robots under signal temporal logics via a discrete local feasibility variable and control barrier functions on a transformed disk workspace to handle nonconvex environments without deadlocks.
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Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
A hybrid modeling approach unifies planning and control for robots under signal temporal logics via a discrete local feasibility variable and control barrier functions on a transformed disk workspace to handle nonconvex environments without deadlocks.