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

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remain collision-free while robustly satisfying temporal and logical task requirements. A central component of our method is the formulation of nonconvex safety and logic constraints as unions of convex sets where associated discrete decisions are encoded in a joint feasibility graph. This graph representation allows Euclidean projection onto the feasible set and proximal robustness maximization to be reformulated as shor

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