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Scenario MPC with STL Specifications and Pareto-Based Feasibility Repair

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Temporal logic is a formal language for reasoning about system behaviors over time. Signal temporal logic (STL), in particular, has been used to encode spatio-temporal requirements for control synthesis in multi-agent systems, often under the assumption that agents are cooperative and their dynamics are known. However, real-world multi-agent applications, such as autonomous driving, typically involve stochastic and uncontrollable agents. Recent work explored robust control with worst-case or probabilistic formulations, but remains limited in that it either (1) certifies strict satisfaction of

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