Samet Uzun, Purnanand Elango, Behçet Açıkmeşe (et. al.)
A smooth, sound and complete robustness measure (D-GMSR) to integrate temporal and logical specifications into optimization problems.
Summary
We introduce a new smooth robustness measure (D-GMSR) for Signal Temporal Logic (STL) that facilitates the integration of temporal and logical specifications into optimization problems. D-GMSR not only ensures soundness and completeness but also addresses key challenges in optimization, such as locality and masking, demonstrated through applications in quadrotor flight and autonomous rocket landing. Our method is integrated into a Sequential Convex Programming (SCP) framework, providing robust and efficient solutions for non-convex trajectory optimization problems.