Signal Temporal Logic Planning with Time-Varying Robustness

Abstract-- This letter aims to generate a continuous-time trajectory consisting of piecewise Bézier 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 continuoustime 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. Figure 1: A simple reach-avoid task: (a) presents a reference I. INTRODUCTION To meet (c) illustrates that the Bézier curves (blue solid line) violate these expectations, signal temporal logic (STL) offers a the specifications due to incorrectly chosen control points.