Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics

• URL: http://arxiv.org/abs/2605.03662v1
• Date: Tue, 05 May 2026 11:42:38 GMT
• Title: Feasibility-aware Hybrid Control for Motion Planning under Signal Temporal Logics
• Abstract summary: A novel for planar local task and motion planning based on hybrid modeling is proposed.<n>By virtue of a discrete variable which and enables local satisfaction, a constraint analysis method is proposed.
• Score: 10.103844123344057
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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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