Optimization with Temporal and Logical Specifications

Created
Aug 29, 2024 11:04 PM
Tags
Trajectory OptimizationSTLSCP
Authors

Samet Uzun, Purnanand Elango, Behçet Açıkmeşe (et. al.)

Date
May 16, 2024
Summary

A smooth, sound and complete robustness measure (D-GMSR) to integrate temporal and logical specifications into optimization problems.

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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.

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