Stochastic Robustness Interval for Motion Planning with Signal Temporal Logic
Roland B. Ilyes,Qi Heng Ho,Morteza Lahijanian,Roland B. Ilyes,Qi Heng Ho,Morteza Lahijanian
In this work, we present a novel robustness measure for continuous-time stochastic trajectories with respect to Signal Temporal Logic (STL) specifications. We show the soundness of the measure and develop a monitor for reasoning about partial trajectories. Using this monitor, we introduce an STL sampling-based motion planning algorithm for robots under uncertainty. Given a minimum robustness requi...
