Higher Order Convergent Control Barrier Functions for Leader-Follower Multi-Agent Systems under STL Tasks

Abstract: This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL task which may be dependent on the behavior of agents involved in other tasks. The leader has knowledge on the associated tasks and controls the performance of the subgroup involved agents. Robust solutions for the task satisfaction, based on the leader's accessibility to the follower agents' states are suggested. Our approach finds solutions to guarantee the satisfaction of STL tasks independent of the agents' initial conditions.