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We present a compositional control synthesis method based on assume-guaranteecontracts with application to correct-by-construction design of vehicularmission plans. In our approach, a mission-level specification expressed in afragment of signal temporal logic (STL) is decomposed into predicates definedon non-overlapping time intervals. The STL predicates are then mapped to anaggregation of contracts associated with continuously differentiabletime-varying control barrier functions. The barrier functions are used toconstrain the lower-level control synthesis problem, which is solved viaquadratic programming. Our approach can avoid the conservatism of previousmethods for task-driven control based on under-approximations. We illustrateits effectiveness on a case study motivated by vehicular mission planning undersafety constraints as well as constraints imposed by traffic regulations undervehicle-to-vehicle and vehicle-to-infrastructure communication.

Control Barrier Function Contracts for Vehicular Mission Planning Under Signal Temporal Logic Specifications