The increasing complexity of control systems necessitates control laws that
guarantee safety w.r.t. complex combinations of constraints. In this letter, we
propose a framework to describe compositional safety specifications with
control barrier functions (CBFs). The specifications are formulated as Boolean
compositions of state constraints, and we propose an algorithmic way to create
a single continuously differentiable CBF that captures these constraints and
enables safety-critical control. We describe the properties of the proposed
CBF, and we demonstrate its efficacy by numerical simulations.Comment: Submitted to the IEEE Control System Letters (L-CSS) and the 2024
American Control Conference (ACC). 6 pages, 3 figure