Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Barrier Function-based Collaborative Control of Multiple Robots under
  Signal Temporal Logic Tasks   Motivated by the recent interest in cyber-physical and autonomous robotic
systems, we study the problem of dynamically coupled multi-agent systems under
a set of signal temporal logic tasks. In particular, the satisfaction of each
of these signal temporal logic tasks depends on the behavior of a distinct set
of agents. Instead of abstracting the agent dynamics and the temporal logic
tasks into a discrete domain and solving the problem therein or using
optimization-based methods, we derive collaborative feedback control laws.
These control laws are based on a decentralized control barrier function
condition that results in discontinuous control laws, as opposed to a
centralized condition resembling the single-agent case. The benefits of our
approach are inherent robustness properties typically present in feedback
control as well as satisfaction guarantees for continuous-time multi-agent
systems. More specifically, time-varying control barrier functions are used
that account for the semantics of the signal temporal logic tasks at hand. For
a certain fragment of signal temporal logic tasks, we further propose a
systematic way to construct such control barrier functions. Finally, we show
the efficacy and robustness of our framework in an experiment including a group
of three omnidirectional robots.

23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
27
The categories of this paper are: comp-gas
22
The categories of this paper are: chao-dyn
11
The categories of this paper are: hep-lat
4
The categories of this paper are: cond-mat
30
The categories of this paper are: q-alg
36
The categories of this paper are: cmp-lg
14
The categories of this paper are: math-ph
24
The categories of this paper are: dg-ga
32
The categories of this paper are: atom-ph
34
The categories of this paper are: chem-ph
18
The categories of this paper are: econ
29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
33
The categories of this paper are: plasm-ph