Optimization with Temporal and Logical Specifications via Generalized Mean-based Smooth Robustness Measures (D-GMSR)

D-SSR Conjunction (And) & Disjunction (Or)

D-GMSR Conjunction (And) & Disjunction (Or)

Locality & Masking

Quadrotor flight

• The quadrotor's speed must not exceed a specified threshold until it stops at the battery charging station for a consecutive number of time steps.

Autonomous rocket landing

• 5 Speed-trigerred, 9 Altitide-trigerred constraints