# Robust Motion Planning employing Signal Temporal Logic

arXiv: https://arxiv.org/abs/1703.02075 · HTML: https://mlsanity.com/paper/1703.02075/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Mar 2017.

## Built on by (most cited first, 1 of 1)

- [Safety Verification and Navigation for Autonomous Vehicles based on Signal Temporal Logic Constraints](https://mlsanity.com/paper/2409.10689/) (2024)

## Abstract (arXiv)

Motion planning classically concerns the problem of accomplishing a goal configuration while avoiding obstacles. However, the need for more sophisticated motion planning methodologies, taking temporal aspects into account, has emerged. To address this issue, temporal logics have recently been used to formulate such advanced specifications. This paper will consider Signal Temporal Logic in combination with Model Predictive Control. A robustness metric, called Discrete Average Space Robustness, is introduced and used to maximize the satisfaction of specifications which results in a natural robustness against noise. The comprised optimization problem is convex and formulated as a Linear Program.