# Decentralized Control Barrier Functions for Coupled Multi-Agent Systems under Signal Temporal Logic Tasks

arXiv: https://arxiv.org/abs/2011.12775 · HTML: https://mlsanity.com/paper/2011.12775/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Nov 2020.

## Built on by (most cited first, 2 of 2)

- [Geometry of Radial Basis Neural Networks for Safety Biased Approximation of Unsafe Regions](https://mlsanity.com/paper/2210.05596/) (2022)
- [Formal Safety Guarantees for Autonomous Vehicles using Barrier Certificates](https://mlsanity.com/paper/2601.09740/) (2026)

## Abstract (arXiv)

We study the problem of controlling multi-agent systems under a set of signal temporal logic tasks. Signal temporal logic is a formalism that is used to express time and space constraints for dynamical systems. Recent methods to solve the control synthesis problem for single-agent systems under signal temporal logic tasks are, however, subject to a high computational complexity. Methods for multi-agent systems scale at least linearly with the number of agents and induce even higher computational burdens. We propose a computationally-efficient control strategy to solve the multi-agent control synthesis problem that results in a robust satisfaction of a set of signal temporal logic tasks. In particular, a decentralized feedback control law is proposed that is based on time-varying control barrier functions. The obtained control law is discontinuous and formal guarantees are provided by nonsmooth analysis. Simulations show the efficacy of the presented method.