用混合模型统一规划与控制，解决复杂空间任务中的死锁问题。
Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
- 引入离散变量分析局部可行性，实现规划与控制一体化
- 在非凸工作区上设计控制屏障函数，避免死锁
- 可处理多任务重叠且抗输入饱和
本文提出一种基于混合建模的平面任务与运动规划新方法。通过引入一个刻画局部约束满足情况的离散变量，实现局部可行性分析，使控制架构同时完成规划与控制设计。同时，在原始非凸且几何复杂的机器人工作区的变换圆盘版本上设计控制屏障函数，有效缓解死锁问题。仿真结果表明，该方法即使在输入饱和条件下，仍能有效处理多个重叠的时空任务。
原文摘要 · Abstract (English)
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control architecture unifies planning with control design. Concurrently, control barrier functions are designed on a transformed disk version of the original nonconvex and geometrically complex robotic workspace, thus amending the issue of deadlocks. Simulations of the proposed method indicate effective handling of multiple overlapping spatio-temporal tasks even in the face of input saturation.
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