Optimal Planning and Control under Signal Temporal Logic Specifications
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866913064625897472 |
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| author | Pan, Zuodong Fang, Xu Ren, Wei |
| author_facet | Pan, Zuodong Fang, Xu Ren, Wei |
| contents | This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local waypoints to satisfy all local tasks, from which the corresponding satisfaction pair sets are derived. Following a local-to-global strategy, all sequences of local waypoints are synthesized into a global one, based on which a safe corridor is then constructed. Leveraging the safe corridor and the satisfaction pair sets, an optimization problem is formulated and solved to derive a position trajectory that satisfies the STL task. Finally, numerical examples and comparative results are presented to demonstrate the efficacy of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_24107 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Optimal Planning and Control under Signal Temporal Logic Specifications Pan, Zuodong Fang, Xu Ren, Wei Systems and Control This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local waypoints to satisfy all local tasks, from which the corresponding satisfaction pair sets are derived. Following a local-to-global strategy, all sequences of local waypoints are synthesized into a global one, based on which a safe corridor is then constructed. Leveraging the safe corridor and the satisfaction pair sets, an optimization problem is formulated and solved to derive a position trajectory that satisfies the STL task. Finally, numerical examples and comparative results are presented to demonstrate the efficacy of the proposed approach. |
| title | Optimal Planning and Control under Signal Temporal Logic Specifications |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.24107 |