الملخص
We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remain collision-free while robustly satisfying temporal and logical task requirements. A central component of our method is the formulation of nonconvex safety and logic constraints as unions of convex sets where associated discrete decisions are encoded in a joint feasibility graph. This graph representation allows Euclidean projection onto the feasible set and proximal robustness maximization to be reformulated as shortest- and widest-path problems, respectively. Building on this structure, we develop a nonconvex splitting method based on the Alternating Direction Method of Multipliers (ADMM), which decouples smooth spatio-temporal trajectory optimization from nonsmooth discrete constraint handling within the optimization. The resulting algorithm exhibits reliable convergence across benchmarks and scales to large-scale motion-planning problems, providing a 4.7x average speedup over the state of the art on discrete and continuous-time logic problems.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Pries, L., Verhagen, J., Arrizabalaga, J., Tumova, J., Ryll, M., & Manchester, Z. (2026). Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization. https://omanscience.com/ar/articles/fast-and-robust-temporal-logic-planning-via-admm-based-trajectory-optimization
MLA 9
Pries, Lukas, et al. "Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization." https://omanscience.com/ar/articles/fast-and-robust-temporal-logic-planning-via-admm-based-trajectory-optimization.
شيكاغو (المؤلف–التاريخ)
Pries, Lukas, Joris Verhagen, Jon Arrizabalaga, Jana Tumova, Markus Ryll, and Zachary Manchester. 2026. "Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization." https://omanscience.com/ar/articles/fast-and-robust-temporal-logic-planning-via-admm-based-trajectory-optimization.
هارفارد
Pries, L., Verhagen, J., Arrizabalaga, J., Tumova, J., Ryll, M. and Manchester, Z. (2026) 'Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization', Available at: https://omanscience.com/ar/articles/fast-and-robust-temporal-logic-planning-via-admm-based-trajectory-optimization.
فانكوفر
Pries L, Verhagen J, Arrizabalaga J, Tumova J, Ryll M, Manchester Z. Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization. https://omanscience.com/ar/articles/fast-and-robust-temporal-logic-planning-via-admm-based-trajectory-optimization
IEEE
L. Pries, J. Verhagen, J. Arrizabalaga, J. Tumova, M. Ryll, and Z. Manchester, "Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization," https://omanscience.com/ar/articles/fast-and-robust-temporal-logic-planning-via-admm-based-trajectory-optimization.