時変ロバスト性を用いた信号時相論理プランニング
Signal Temporal Logic Planning with Time-Varying Robustness
区分的ベジェ曲線で表される連続時間軌道を生成し、時変ロバスト性を導入することで信号時相論理(STL)仕様をより効率的に満たす手法を提案した。
著者: Yating Yuan, Thanin Quartz, Jun Liu
分類: cs.RO
原文アブストラクト
This letter aims to generate a continuous-time trajectory consisting of piecewise B\'ezier 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 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.
