Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Trajectory Optimization for High-Dimensional Nonlinear Systems under STL
  Specifications   Signal Temporal Logic (STL) has gained popularity in recent years as a
specification language for cyber-physical systems, especially in robotics.
Beyond being expressive and easy to understand, STL is appealing because the
synthesis problem---generating a trajectory that satisfies a given
specification---can be formulated as a trajectory optimization problem.
Unfortunately, the associated cost function is nonsmooth and non-convex. As a
result, existing synthesis methods scale poorly to high-dimensional nonlinear
systems. In this letter, we present a new trajectory optimization approach for
STL synthesis based on Differential Dynamic Programming (DDP). It is well known
that DDP scales well to extremely high-dimensional nonlinear systems like
robotic quadrupeds and humanoids: we show that these advantages can be
harnessed for STL synthesis. We prove the soundness of our proposed approach,
demonstrate order-of-magnitude speed improvements over the state-of-the-art on
several benchmark problems, and demonstrate the scalability of our approach to
the full nonlinear dynamics of a 7 degree-of-freedom robot arm.

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The categories of this paper are: cond-mat
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The categories of this paper are: gr-qc
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The categories of this paper are: nucl-th
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The categories of this paper are: mtrl-th
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The categories of this paper are: astro-ph
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The categories of this paper are: math-ph
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The categories of this paper are: hep-ex
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The categories of this paper are: patt-sol
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The categories of this paper are: cmp-lg
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The categories of this paper are: chem-ph
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The categories of this paper are: stat
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The categories of this paper are: math
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The categories of this paper are: q-bio
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The categories of this paper are: nucl-ex
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The categories of this paper are: chao-dyn
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The categories of this paper are: solv-int