Signal Temporal Logic Planning with Time-Varying Robustness
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916413759815680 |
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| author | Yuan, Yating Quartz, Thanin Liu, Jun |
| author_facet | Yuan, Yating Quartz, Thanin Liu, Jun |
| contents | This letter aims to generate a continuous-time trajectory consisting of piecewise Bézier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less conservative than the real-valued robustness, which enables more effective tracking in practical applications. Specifically, our continuous-time trajectories account for dynamic feasibility, leading to smaller tracking errors and ensuring that the STL specifications can be met by the tracking trajectory. Comparative experiments demonstrate the efficiency and effectiveness of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_19131 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Signal Temporal Logic Planning with Time-Varying Robustness Yuan, Yating Quartz, Thanin Liu, Jun Robotics This letter aims to generate a continuous-time trajectory consisting of piecewise Bézier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less conservative than the real-valued robustness, which enables more effective tracking in practical applications. Specifically, our continuous-time trajectories account for dynamic feasibility, leading to smaller tracking errors and ensuring that the STL specifications can be met by the tracking trajectory. Comparative experiments demonstrate the efficiency and effectiveness of the proposed approach. |
| title | Signal Temporal Logic Planning with Time-Varying Robustness |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.19131 |