Control Synthesis under Spatiotemporal Specifications
Saturday, April 25, 2020 - 9:30am - 10:00am
Planning and control for multi-agent systems has been a popular topic of research, with applications in numerous real-world autonomous systems. Despite significant progress over the years, challenges such as constraints (in terms of state and time specifications), malicious or faulty information, environmental uncertainty and scalability are still open. In this talk, I will present some of our recent results and ongoing work on a Prescribed-Time Control Barrier Functions framework, where the barriers and underlying controllers meet state and time constraints. The framework builds upon the notions of finite-time and fixed-time stability, and redefines the standard control barrier functions to enable control synthesis that meets spatiotemporal specifications. The efficacy of the approach is illustrated via a spatiotemporal motion planning scenario.