Real-Time RRT* with Signal Temporal Logic Preferences
Alexis Linard,Ilaria Torre,Ermanno Bartoli,Alex Sleat,Iolanda Leite,Jana Tumova,Alexis Linard,Ilaria Torre,Ermanno Bartoli,Alex Sleat,Iolanda Leite,Jana Tumova
Signal Temporal Logic (STL) is a rigorous specification language that allows one to express various spatio-temporal requirements and preferences. Its semantics (called robustness) allows quantifying to what extent are the STL specifications met. In this work, we focus on enabling STL constraints and preferences in the Real-Time Rapidly Exploring Random Tree (RT-RRT*) motion planning algorithm in a...
