Graph-Based Convexification of Nested Signal Temporal Logic Constraints for Trajectory Optimization
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2023
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866909343695241216 |
|---|---|
| author | Claudet, Thomas Martire, Davide Losa, Damiana Sanfedino, Francesco Alazard, Daniel |
| author_facet | Claudet, Thomas Martire, Davide Losa, Damiana Sanfedino, Francesco Alazard, Daniel |
| contents | Optimizing high-level mission planning constraints is traditionally solved in exponential time and requires to split the problem into several ones, making the connections between them a convoluted task. This paper aims at generalizing recent works on the convexification of Signal Temporal Logic (STL) constraints converting them into linear approximations. Graphs are employed to build general linguistic semantics based on key words (such as Not, And, Or, Eventually, Always), and super-operators (e.g., Until, Implies, If and Only If) based on already defined ones. Numerical validations demonstrate the performance of the proposed approach on two practical use-cases of satellite optimal guidance using a modified Successive Convexification scheme. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_13938 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Graph-Based Convexification of Nested Signal Temporal Logic Constraints for Trajectory Optimization Claudet, Thomas Martire, Davide Losa, Damiana Sanfedino, Francesco Alazard, Daniel Optimization and Control Dynamical Systems Optimizing high-level mission planning constraints is traditionally solved in exponential time and requires to split the problem into several ones, making the connections between them a convoluted task. This paper aims at generalizing recent works on the convexification of Signal Temporal Logic (STL) constraints converting them into linear approximations. Graphs are employed to build general linguistic semantics based on key words (such as Not, And, Or, Eventually, Always), and super-operators (e.g., Until, Implies, If and Only If) based on already defined ones. Numerical validations demonstrate the performance of the proposed approach on two practical use-cases of satellite optimal guidance using a modified Successive Convexification scheme. |
| title | Graph-Based Convexification of Nested Signal Temporal Logic Constraints for Trajectory Optimization |
| topic | Optimization and Control Dynamical Systems |
| url | https://arxiv.org/abs/2310.13938 |