Dimos Dimarogonas

STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets

Nicola De Carli, Gregorio Marchesini, Dimos Dimarogonas

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…Read more