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Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are under complex specifications. In this paper, we propose safety-aware-stl-mppi, a computationally efficient sampling-based receding-horizon planning framework designed to promote satisfaction of constraints expressed in Signal Temporal Logic (STL). Our approach encodes discrete-time STL formulas into candidate time-varying control barrier functions (CBF), which are integrated into a model predictive path integral (MPPI) controller. Our method inherits the benefits of low computationa

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