Control Barrier Navigation Functions for Multi-Agent System Under Signal Temporal Logic Tasks

Motivated by the recent work about signal temporal logic and control barrier functions, we try to study the problem of multi-agent planning with control barrier functions under signal temporal logic tasks. Through the use of navigation functions, we possess the ability to precisely describe the workspace. Then we combine these functions with more information such as time limits to build control barrier navigation functions. Finally we design a coupled controller to realize the communication and path planning between multi-agents with high efficiency. In addition, this approach can also handle simple deadlocks.