Recursive CBF design via modified STL tree and sliding windows for nested STL specs, with QP-reconstructed CBF controller for disturbance rejection without prior disturbance knowledge.
Barrier function ba sed collab- orative control of multiple robots under signal temporal lo gic tasks
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Disturbance Rejection Control under Nested Signal Temporal Logic Specifications: A Recursive Design Approach
Recursive CBF design via modified STL tree and sliding windows for nested STL specs, with QP-reconstructed CBF controller for disturbance rejection without prior disturbance knowledge.