有界STL安全性的时间不变控制障碍函数
Time-Invariant Control Barrier Functions for Bounded STL Safety
- University of Auckland（奥克兰大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出时间不变控制障碍函数方法，通过消除显式时间依赖，将有限时间STL安全规范转化为静态空间不变量，以应对异步网络下的多智能体安全问题。
AI中文摘要：
在信号时序逻辑中强制执行有限时间持久性规范通常需要在扩展的状态-时间空间中构造控制障碍函数。这引入了对全局时钟同步的严格数学假设，使得多智能体执行在异步网络延迟、时钟偏差和非单调抖动下变得脆弱。在本文中，我们证明对于有界时间安全任务，一般连续时间非线性系统可以数学上消除显式的时间依赖性。通过利用最坏情况系统耗散的倒数积分，我们系统地将时序规范编译为静态、低维的空间不变量。我们正式证明这种时间不变实现是严格可靠的，消除了启发式时变包络调谐的需要，并保证了即使在严重网络去同步下也能实现鲁棒的前向不变性。
英文摘要：
Enforcing finite-time persistence specifications in Signal Temporal Logic typically requires formulating Control Barrier Functions within an extended state-time space. This introduces strict mathematical assumptions on global clock synchronization, rendering multi-agent execution brittle under asynchronous network delays, clock skew, and non-monotonic jitter. In this paper, we prove that for bounded-time safety tasks, explicit time dependency can be mathematically eliminated for general continuous-time nonlinear systems. By leveraging the reciprocal integral of worst-case system dissipation, we systematically compile temporal specifications into static, lower-dimensional spatial invariants. We formally prove that this time-invariant realization is strictly sound, removes the need for heuristic time-varying envelope tuning, and guarantees robust forward invariance even under severe network desynchronization.
