STL-GCS：一种基于时变凸集图的信号时序逻辑规划器-控制器框架
STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
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中文总结 AI 辅助
提出用于满足凸谓词上STL规范的统一轨迹规划与控制框架，规划层将任务编码为时变凸集，结合GCS框架并由B样条参数化轨迹，控制层据此设计反馈控制器，通过仿真和实际实验验证了该方法。
中文摘要 AI 辅助
我们提出了一个统一的轨迹规划和控制框架，用于满足在凸谓词上定义的信号时序逻辑（STL）规范。在规划层，STL任务被编码为配置空间中的时变凸集，系统相对于这些集的前向不变性意味着以规定的鲁棒性裕度满足规范。此表示随后提升到联合时间-配置空间，并与凸集图（GCS）框架相结合，产生凸时空集上规划问题的最短路径公式。轨迹由B样条参数化，可实现STL满足、碰撞避免和平滑性约束的连续时间强制执行。在控制层，利用用于规划的相同的时变集来设计反馈控制器，该控制器在存在跟踪误差和模型失配的情况下执行期间跟踪规划轨迹，同时优先满足STL规范。我们在空间机器人平台的仿真和实际实验中验证了所提出的方法。
英文摘要
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.
