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SparseMax-dSTL: Sound Robustness with Horizon-Independent Gradient Allocation for Temporal Logic Trajectory Optimization
A gradient-based solver that enforces a Signal Temporal Logic (STL) specification uses a smooth approximation of its quantitative semantics, the robustness. In safety-critical trajectory optimization, this approximation must have two properties. First, it must be sound, that is, nonnegative only on
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