Interval Signal Temporal Logic for Robust Optimal Control

This repository accompanies the paper submitted to CDC 2024 "Interval Signal Temporal Logic for Robust Optimal Control," providing code to generate the figures in our paper.

This code builds on stlpy. See stlpy's documentation.

Miniature Blimp Case Study

Requires Python >=3.9. Install the following packages

• numpy
• matplotlib
• scipy
• npinterval

Follow the instructions to install gurobi for Python. It is free for academia. Next,

• Clone the stlpy repo
• Add gurobi_optimal_control to the folder stlpy/solvers/gurobi/
• Replace stlpy/STL/predicate.py with the one in this repo
• Replace stlpy/STL/formula.py with the one in this repo
• Add from .gurobi.gurobi_optimal_control import GurobiIntervalOptimalControl in the GUROBI_ENABLED section of stlpy/solvers/__init__.py
• Run pip install . from the home directory of stlpy.
• Run python final-paper-code.py.

Latex Installation (Optional)

• MikTex or another LaTeX interpreter, for LaTeX to appear in PyPlot plots.