# Control Barrier Functions with Actuation Constraints under Signal Temporal Logic Specifications

arXiv: https://arxiv.org/abs/2204.03631 · HTML: https://mlsanity.com/paper/2204.03631/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Apr 2022.

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

- [Shielded Reinforcement Learning Under Dynamic Temporal Logic Constraints](https://mlsanity.com/paper/2603.17152/) (2026)
- [Specification-Aware Distribution Shaping for Robotics Foundation Models](https://mlsanity.com/paper/2603.17969/) (2026)

## Abstract (arXiv)

We propose control barrier functions (CBFs) for a family of dynamical systems to satisfy a broad fragment of Signal Temporal Logic (STL) specifications, which may include subtasks with nested temporal operators or conflicting requirements (e.g., achieving multiple subtasks within the same time interval). The proposed CBFs take into account the actuation limits of the dynamical system as well as a feasible sequence of subtasks, and they define time-varying feasible sets of states the system must always stay inside. We show some theoretical results on the correctness of the proposed method. We illustrate the benefits of the proposed CBFs and compare their performance with the existing methods via simulations.