Non-uniform Sampled Motion Planning for Continuous-time STL

TL;DR

This paper introduces an offline motion planning approach for linear cyber-physical systems that satisfy continuous-time STL specifications using non-uniform control updates, formulated as a Mixed-integer Program.

Contribution

It proposes a novel method to compute bounds of Control Barrier Functions and predicates for satisfying spatial and temporal requirements in motion planning.

Findings

Validated in numerical examples

Effective handling of non-uniform control updates

Ensures satisfaction of STL specifications

Abstract

This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are applied in a Zeroth-order Hold (ZOH) manner. The motion planning problem is formulated as a Mixed-integer Program (MIP) with nonuniform control updates. We develop a novel method to obtain bounds of Control Barrier Functions (CBF) and linear predicates to render both spatial and temporal requirements. The theoretical results are validated in numerical examples.