STL-GCS: 時変凸集合のグラフによる信号時相論理のためのプランナー・コントローラフレームワーク
STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
信号時相論理（STL）仕様を満たす軌道計画と制御を統合したフレームワークを提案。計画層ではSTLタスクを時変凸集合として表現し、GCSフレームワークで最短路問題として解き、制御層では同じ集合を用いて追従制御と仕様充足を優先する。
著者: Nicola De Carli, Gregorio Marchesini, Dimos V. Dimarogonas
分類: eess.SY, cs.RO
原文アブストラクト
We present a unified trajectory planning and control framework for the satisfaction of Signal Temporal Logic (STL) specifications defined over convex predicates. At the planning layer, STL tasks are encoded as time-varying convex sets in configuration space, specifically designed so that forward invariance of the system with respect to these sets implies satisfaction of the specification with a prescribed robustness margin. This representation is then lifted to the joint time--configuration space and combined with the Graphs of Convex Sets (GCS) framework, yielding a shortest-path formulation of the planning problem over convex spatio-temporal sets. Trajectories are parameterized by B-splines, which enable continuous-time enforcement of STL satisfaction, collision avoidance, and smoothness constraints. At the control layer, the same time-varying sets used for planning are exploited to design a feedback controller that tracks the planned trajectory while prioritizing satisfaction of the STL specification during execution in the presence of tracking errors and model mismatch. We validate the proposed approach in simulation and in real-world experiments on space robotic platforms.