  This paper presents control strategies based on time-varying convergent
higher order control barrier functions for a class of leader-follower
multi-agent systems under signal temporal logic (STL) tasks. Each agent is
assigned a local STL task which may be dependent on the behavior of agents
involved in other tasks. The leader has knowledge on the associated tasks and
controls the performance of the subgroup involved agents. Robust solutions for
the task satisfaction, based on the leader's accessibility to the follower
agents' states are suggested. Our approach finds solutions to guarantee the
satisfaction of STL tasks independent of the agents' initial conditions.
