Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.07375 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Table of Contents:
- We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization problem leveraging the STL robustness semantics. To obtain a differentiable problem without approximation error, we introduce an exact reformulation of the max and min operators. The resulting method is exact, smooth, and sound. We validate it in numerical simulations, demonstrating its practical performance.