This paper presents an offline motion planner for linear cyber-physical systems that satisfy a continuous-time Signal Temporal Logic (STL) specification, in which controls are applied in a Zeroth-order Hold (ZOH) manner. The motion planning problem is formulated as a Mixed-integer Program (MIP) with nonuniform control updates. We develop a novel method to obtain bounds of Control Barrier Functions (CBF) and linear predicates to render both spatial and temporal requirements. The theoretical results are validated in numerical examples.
@article{arxiv.2006.02351,
title = {Non-uniform Sampled Motion Planning for Continuous-time STL},
author = {Guang Yang and Calin Belta and Roberto Tron},
journal= {arXiv preprint arXiv:2006.02351},
year = {2020}
}