Robust Signal Temporal Logic-based Planning for Uncertain External Events

Abstract

We propose a new nonlinear optimization-based method for signal temporal logic (STL) specification with uncertain external events. STL provides a simple way to express complex task specifications for robotic and cyber-physical systems. Event-based STL is an extension of STL and can describe the response to external events, which should be considered in practical applications. We define smooth robustness functions for event-based STL specifications and formulate a nonlinear optimization problem for event-based STL specifications. Our method introduces augmented continuous variables for external events into the optimization problem to generate robust trajectories for uncertain external events that may occur. We demonstrate the effectiveness of our method through numerical simulations.