论文标题
信号时间逻辑的混合智能编程，二进制变量较少
Mixed-Integer Programming for Signal Temporal Logic with Fewer Binary Variables
论文作者
论文摘要
信号时间逻辑（STL）提供了一种用于编码机器人和网络物理系统复杂控制目标的方便方法。 STL的轨迹合成的最先进是基于混合构成凸编程（MICP）。 MICP方法是合理且完整的，但由于二进制变量数量的指数复杂性，可伸缩性有限。在这封信中，我们建议对STL进行更有效的MICP编码。我们的新编码基于以下洞察力，即可以使用对数数量的二进制变量编码脱节，并且可以在没有二进制变量的情况下编码结合。我们在模拟示例中证明，我们提出的方法显着优于长期和复杂规格的最新方法。开源软件可从https://stlpy.readthedocs.io获得。
Signal Temporal Logic (STL) provides a convenient way of encoding complex control objectives for robotic and cyber-physical systems. The state-of-the-art in trajectory synthesis for STL is based on Mixed-Integer Convex Programming (MICP). The MICP approach is sound and complete, but has limited scalability due to exponential complexity in the number of binary variables. In this letter, we propose a more efficient MICP encoding for STL. Our new encoding is based on the insight that disjunction can be encoded using a logarithmic number of binary variables and conjunction can be encoded without binary variables. We demonstrate in simulation examples that our proposed approach significantly outperforms the state-of-the-art for long and complex specifications. Open-source software is available at https://stlpy.readthedocs.io.
