Signal Temporal Logic (STL) has gained popularity in recent years as a specification language for cyber-physical systems, especially in robotics. Beyond being expressive and easy to understand, STL is appealing because the synthesis problem---generating a trajectory that satisfies a given specification---can be formulated as a trajectory optimization problem. Unfortunately, the associated cost function is nonsmooth and non-convex. As a result, existing synthesis methods scale poorly to high-dimensional nonlinear systems. In this letter, we present a new trajectory optimization approach for STL synthesis based on Differential Dynamic Programming (DDP). It is well known that DDP scales well to extremely high-dimensional nonlinear systems like robotic quadrupeds and humanoids: we show that these advantages can be harnessed for STL synthesis. We prove the soundness of our proposed approach, demonstrate order-of-magnitude speed improvements over the state-of-the-art on several benchmark problems, and demonstrate the scalability of our approach to the full nonlinear dynamics of a 7 degree-of-freedom robot arm.
DAG-STL: A Hierarchical Framework for Zero-Shot Trajectory Planning under Signal Temporal Logic Specifications
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai, China（自动化与智能感知学院，上海交通大学，上海，中国）；Institute of Artificial Intelligence, Xiamen University, Xiamen, China（人工智能研究院，厦门大学，厦门，中国）
Feasibility Restoration under Conflicting STL Specifications with Pareto-Optimal Refinement
Department of Computer Science, University of Southern California（南加州大学计算机科学系）；Department of Computer Science and Engineering, Texas A&M University（德克萨斯农工大学计算机科学与工程系）
Bridging Perception and Planning: Towards End-to-End Planning for Signal Temporal Logic Tasks
School of Automation & Intelligent Sensing, Shanghai Jiao Tong University（自动化与智能感知学院，上海交通大学）；University of Minnesota, Twin Cities（明尼苏达大学，双城分校）；School of Information Science and Technology, University of Science and Technology of China（信息科学与技术学院，中国科学技术大学）
Signal Temporal Logic Motion Planning via Graphs of Convex Sets
School of Automation & Intelligent Sensing, Shanghai Jiao Tong University（自动化与智能感知学院，上海交通大学）；Institute of Artificial Intelligence, Xiamen University（人工智能研究院，厦门大学）
Exact Smooth Reformulations for Trajectory Optimization Under Signal Temporal Logic Specifications
Division of Robotics, Perception and Learning, School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology（机器人、感知与学习 division，电气工程与计算机科学学院，皇家理工学院）
Multi-Robot Trajectory Planning via Constrained Bayesian Optimization and Local Cost Map Learning with STL-Based Conflict Resolution
Department of Computer Science, University of New Orleans（计算机科学系，新奥尔良大学）；Knight Foundation School of Computing and Information Sciences, Florida International University（骑士基金会计算与信息科学学院，佛罗里达国际大学）；Providence College, Department of Mathematics & Computer Science（普罗维登斯学院，数学与计算机科学系）
Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization
ZF Friedrichshafen AG（采埃孚腓德烈斯哈芬股份公司）；HTWG Konstanz（康斯坦茨应用科学大学）；School of Computation, Information and Technology, Technical University of Munich（慕尼黑工业大学计算、信息与技术学院）
本文提出一种基于 model predictive path integral control 的采样方法，用于高效求解带有 Signal temporal logic (STL) 成本函数的最优控制与轨迹规划问题。
MAPS$^2$: Multi-Robot Autonomous Motion Planning under Signal Temporal Logic Specifications
Division of Decision and Control, School of EECS, KTH Royal Institute of Technology, Stockholm, Sweden.（决策与控制系，瑞典皇家理工学院）；Division of Signals and Systems, Department of Electrical Engineering, Uppsala University, Uppsala, Sweden.（信号与系统系，乌普萨拉大学）
STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization
Department of Electrical and Systems Engineering, University of Pennsylvania（宾夕法尼亚大学电气与系统工程系）；Mechanical Engineering and Mechanics Department, Lehigh University（莱特大学机械工程与力学系）
Trajectory Optimization for UAV-Based Medical Delivery with Temporal Logic Constraints and Convex Feasible Set Collision Avoidance
State Key Laboratory of Multimodal Artificial Intelligence Systems（多模态人工智能系统国家重点实验室）；Vanke School of Public Health（万科公共卫生学院）；School of Automation（自动化学院）
Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic
School of Computation, Information and Technology, Technical University of Munich（慕尼黑技术大学计算信息与技术学院）；ZF Friedrichshafen AG（弗赖堡汽车集团）；Institute of System Dynamics, HTWG Konstanz（康斯坦茨HTWG系统动力学研究所）
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow
George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology（佐治亚理工学院机械工程学院）；Georgia Institute of Technology（佐治亚理工学院）；School of Electrical and Computer Engineering, Georgia Institute of Technology（佐治亚理工学院电气与计算机工程学院）
Fast Constraint Extraction for Corrective Control under STL Specifications via Logical Dependency Tracking
U2IS, ENSTA, Institut Polytechnique de Paris（巴黎理工学院ENSTA U2IS）；Univ. Grenoble Alpes（格勒诺布尔阿尔卑斯大学）；CNRS（法国国家科学研究中心）；Grenoble INP（格勒诺布尔国立理工学院）；VERIMAG（VERIMAG实验室）；REALM, AeroAstro, Massachusetts Institute of Technology（麻省理工学院航空航天系REALM）
Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications
Univ. Grenoble Alpes（格勒诺布尔阿尔卑斯大学）；CNRS（法国国家科学研究中心）；Grenoble INP（格勒诺布尔理工学院）；VERIMAG（VERIMAG 实验室）；Decyphir SAS（Decyphir SAS 公司）；IIT Kanpur（印度理工学院坎普尔分校）；Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）
LLM-Enabled Low-Altitude UAV Natural Language Navigation via Signal Temporal Logic Specification Translation and Repair
Guangdong Provincial Key Laboratory of Space-Aerial Networking and Intelligent Sensing, Harbin Institute of Technology, Shenzhen（广东省空天网络与智能感知重点实验室，哈尔滨工业大学（深圳））；Peng Cheng Laboratory (PCL), Shenzhen（鹏城实验室）；Information Systems Technology and Design, Singapore University of Technology and Design（新加坡科技设计大学信息系统技术与设计系）；School of Computer Science and Engineering, Central South University, Changsha（中南大学计算机科学与工程学院）
Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
Department of Electrical Engineering and Computer Sciences University of California Berkeley（加州大学伯克利分校电气工程与计算机科学系）；University of Southern California（南加州大学）
