  A motion planning methodology based on the combination of Control Barrier
Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This
methodology allows task completion at any point within a specified time
interval, considering a dynamic system subject to velocity constraints. In this
work, we apply this approach into the context of Socially Responsible
Navigation (SRN), introducing a rotation constraint. This constraint is
designed to maintain the user within the robot's field of view (FOV), enhancing
human-robot interaction with the concept of side-by-side human-robot companion.
This angular constraint offers the possibility to customize social navigation
to specific needs, thereby enabling safe SRN. Its validation is carried out
through simulations demonstrating the system's effectiveness in adhering to
spatio-temporal constraints, including those related to robot velocity,
rotation, and the presence of static and dynamic obstacles.
