Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes
Abstract
This paper presents a spatiotemporal tube (STT)-based control framework for satisfying Signal Temporal Logic (STL) specifications in unknown control-affine systems. We formulate STL constraints as a robust optimization problem (ROP) and recast it as a scenario optimization program (SOP) to construct STTs with formal correctness guarantees. We also propose a closed-form control law that operates independently of the system dynamics, and ensures the system trajectory evolves within the STTs, thereby satisfying the STL specifications. The proposed approach is validated through case studies and comparisons with state-of-the-art methods, demonstrating superior computational efficiency, trajectory quality, and applicability to complex STL tasks.
Cite
@article{arxiv.2505.05323,
title = {Approximation-free Control for Signal Temporal Logic Specifications using Spatiotemporal Tubes},
author = {Ratnangshu Das and Subhodeep Choudhury and Pushpak Jagtap},
journal= {arXiv preprint arXiv:2505.05323},
year = {2025}
}
Comments
This paper is a revised version of the article published in IEEE Control Systems Letters (L-CSS). This version corrects the errors in Theorem 3.2 and the proof of Theorem 3.3, that was present in the initial submitted manuscript