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. The time-varying robustness is less conservative than the real-valued robustness, which enables more effective tracking in practical applications. Specifically, 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. The implementation is available at https://github.com/ViviaY/TimeVaryingBound_STL .