Signal Temporal Logic Planning with Time-Varying Robustness

TL;DR

This paper introduces a novel approach for planning continuous-time trajectories that satisfy signal temporal logic specifications with less conservative, time-varying robustness, leading to improved tracking accuracy and practical applicability.

Contribution

It proposes a new time-varying robustness measure for STL that enhances trajectory planning by reducing conservativeness and improving dynamic feasibility.

Findings

Less conservative robustness improves tracking accuracy.

The approach ensures STL specification satisfaction in practical scenarios.

Experiments confirm efficiency and effectiveness of the method.

Abstract

This letter aims to generate a continuous-time trajectory consisting of piecewise B\'ezier 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.