{
  "abstract": "This work presents a novel approach for solving optimal control problems under Signal Temporal Logic (STL) constraints. The proposed method reformulates the original problem as a classical continuous-time optimal control problem by augmenting the system dynamics with auxiliary variables that encode STL satisfaction through their evolution and boundary conditions. Introducing a robustness parameter, we also establish the convergence of the reformulated problem to the original one as this parameter tends to zero. The proposed method applies to a fragment of STL, which excludes nestings between the until and release operators, but still captures a broad class of STL specifications used in practice. Numerical simulations are realized to demonstrate the feasibility of our method, highlighting its potential for practical applications.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": null,
  "author_total": 4,
  "authors": [
    {
      "name": "En Lai"
    },
    {
      "name": "Riccardo Bonalli"
    },
    {
      "name": "Antoine Girard"
    },
    {
      "name": "Frédéric Jean"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/0915zxvnqxr84.bib",
  "cited_by": 0,
  "doi": "10.1016/j.automatica.2026.113337",
  "fulltext_url": null,
  "id": "0915zxvnqxr84",
  "issns": [
    "0005-1098"
  ],
  "landing_url": "https://hal.science/hal-05199224v2",
  "language": "en",
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "https://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": null,
  "native_subjects": [
    [
      "hal",
      "0.math"
    ],
    [
      "hal",
      "1.math.math-oc"
    ],
    [
      "openalex",
      "1703|Formal Methods in Verification"
    ]
  ],
  "openalex": "W7213480050",
  "pdf_url": "https://hal.science/hal-05199224/document",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-11",
  "publisher": "Elsevier",
  "ris": "https://research.draconitic.com/paper/0915zxvnqxr84.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:17:33Z",
      "native_id": "hal-05199224",
      "source": "hal",
      "url": "https://hal.science/hal-05199224v2"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "hal:1.math.math-oc",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Optimal Control Under Signal Temporal Logic Constraints: A Robust Reformulation via Augmented Dynamics",
  "title_text": "Optimal Control Under Signal Temporal Logic Constraints: A Robust Reformulation via Augmented Dynamics",
  "type": "peer-reviewed",
  "updated_at": "2026-10-30T12:17:33Z",
  "url": "https://research.draconitic.com/paper/0915zxvnqxr84",
  "venue": "Automatica",
  "versions": []
}