用分段贝塞尔曲线生成满足时变鲁棒性STL规范的连续轨迹，提升实际追踪效果。
Signal Temporal Logic Planning with Time-Varying Robustness
- 采用分段贝塞尔曲线构造连续时间轨迹，兼顾动态可行性。
- 时变鲁棒性比实数鲁棒性更宽松，减少追踪误差。
- 适用于需要精确时序约束的机器人路径规划场景。
本文旨在生成由分段贝塞尔曲线组成的连续时间轨迹，满足具有分段时变鲁棒性的信号时序逻辑（STL）规范。所提出的时变鲁棒性较传统实数值鲁棒性更为宽松，使实际应用中的追踪更加高效。具体而言，生成的连续时间轨迹考虑了动态可行性，从而减小追踪误差，并确保追踪轨迹能够满足STL规范。对比实验验证了该方法的高效性与有效性。
原文摘要 · Abstract (English)
This letter aims to generate a continuous-time trajectory consisting of piecewise Bézier 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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。