Ro-To-Go! Robust Reactive Control with Signal Temporal Logic
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866910230351183872 |
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| author | Ilyes, Roland Brudermüller, Lara Hawes, Nick Lacerda, Bruno |
| author_facet | Ilyes, Roland Brudermüller, Lara Hawes, Nick Lacerda, Bruno |
| contents | Signal Temporal Logic (STL) robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in Model Predictive Control (MPC) approaches. In this work, we introduce Signal Temporal Logic robustness-to-go (Ro-To-Go), a new quantitative semantics for the logic that isolates the contributions of suffix trajectories. We prove its relationship to formula progression for Metric Temporal Logic, and show that the robustness-to-go depends only on the suffix trajectory and progressed formula. We implement robustness-to-go as the objective in an MPC algorithm and use formula progression to efficiently evaluate it online. We test the algorithm in simulation and compare it to MPC using traditional STL robustness. Our experiments show that using robustness-to-go results in a higher success rate. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_05792 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Ro-To-Go! Robust Reactive Control with Signal Temporal Logic Ilyes, Roland Brudermüller, Lara Hawes, Nick Lacerda, Bruno Systems and Control Signal Temporal Logic (STL) robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in Model Predictive Control (MPC) approaches. In this work, we introduce Signal Temporal Logic robustness-to-go (Ro-To-Go), a new quantitative semantics for the logic that isolates the contributions of suffix trajectories. We prove its relationship to formula progression for Metric Temporal Logic, and show that the robustness-to-go depends only on the suffix trajectory and progressed formula. We implement robustness-to-go as the objective in an MPC algorithm and use formula progression to efficiently evaluate it online. We test the algorithm in simulation and compare it to MPC using traditional STL robustness. Our experiments show that using robustness-to-go results in a higher success rate. |
| title | Ro-To-Go! Robust Reactive Control with Signal Temporal Logic |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.05792 |