A framework that converts LTL_robotic specifications into a lasso of barrier-function quadratic programs, with composite finite-time barrier functions and prioritized safety relaxation, plus a conditional proof of task satisfaction.
Hierarchical task and motion planning in the now,
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Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications
A framework that converts LTL_robotic specifications into a lasso of barrier-function quadratic programs, with composite finite-time barrier functions and prioritized safety relaxation, plus a conditional proof of task satisfaction.