Safe Planning via Incremental Decomposition of Signal Temporal Logic

Devised a requirement decomposition framework for integrated task and motion planning, reducing solve time by 65% by combining correctness of specification-guided synthesis with efficient convex optimization for trajectory synthesis.

This work was accepted to NASA formal Methods 2024. Our goal was to show decomposing STL specifications can combine the correctness of specification guided synthesis to efficient convex optimization for trajectory synthesis. Here is a link to the paper for more information.