Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic

Abstract:Motion planning for autonomous vehicles often requires satisfying multiple conditionally conflicting specifications. In situations where not all specifications can be met simultaneously, minimum-violation motion planning maintains system operation by minimizing violations of specifications in accordance with their priorities. Signal temporal logic (STL) provides a formal language for rigorously defining these specifications and enables the quantitative evaluation of their violations. However, a total ordering of specifications yields a lexicographic optimization problem, which is typically computationally expensive to solve using standard methods. We address this problem by discretizing the multi-objective lexicographic optimization problem via non-uniform quantization and transforming it into a single-objective optimization problem using bit-shifting. Specifically, we extend a deterministic model predictive path integral (MPPI) solver to efficiently solve optimization problems without quadratic input cost. Additionally, a novel predicate robustness measure that combines spatial and temporal violations is introduced. Our results show that the proposed method offers an interpretable and scalable solution for lexicographic STL minimum-violation motion planning using a single-objective solver.

Robotics (cs.RO)

arXiv:2604.20428 [cs.RO]

(or arXiv:2604.20428v3 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2604.20428 Focus to learn more arXiv-issued DOI via DataCite

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