Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization

arXiv:2609.23037 · cs.RO, cs.FL · Submitted 2026-09-19 · Read on arXiv

cs.RO, cs.FL

Submitted: 2026-09-19

Updated: 2026-09-19

Terminology

• Robustness — 41× in this paper · explained in 5 episodes
• Benchmark — 5× in this paper · explained in 2 episodes
• Graphs of Convex Sets — 5× in this paper
• Signal Temporal Logic — 5× in this paper
• Alternating Minimization — 4× in this paper · explained in 1 episode
• Alternating Direction Method of Multipliers — 2× in this paper
• Shortest-Path Problem — 2× in this paper
• Alternating Direction Method of Multipliers (ADMM) — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Convergence Guarantees — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Higher-order derivatives — 1× in this paper · explained in 2 episodes
• Signal Temporal Logic (STL) — 1× in this paper · explained in 4 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Signal Temporal Logic Motion Planning via Graphs of Convex Sets
• Accelerating Signal-Temporal-Logic-Based Task and Motion Planning of Bipedal Navigation using Benders Decomposition
• ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets

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