论文标题
连续时间STL的不均匀采样运动计划
Non-uniform Sampled Motion Planning for Continuous-time STL
论文作者
论文摘要
本文为线性网络物理系统提供了一个离线运动计划器，该系统满足连续时间信号时间逻辑（STL）规范，其中以零订单保持（ZOH）方式应用控件。运动计划问题被提出为具有不一致控制更新的混合企业计划（MIP）。我们开发了一种新的方法来获得控制屏障功能（CBF）和线性谓词的边界，以呈现空间和时间要求。理论结果在数值示例中得到了验证。
This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are applied in a Zeroth-order Hold (ZOH) manner. The motion planning problem is formulated as a Mixed-integer Program (MIP) with nonuniform control updates. We develop a novel method to obtain bounds of Control Barrier Functions (CBF) and linear predicates to render both spatial and temporal requirements. The theoretical results are validated in numerical examples.
