Mixed Integer Linear Programming

Signal temporal logic (STL) is a useful framework for encoding mission specifications, and solving an optimization problem subject to constraints derived from agent dynamics and mission specifications allows agents to plan their tasks optimally. Solving mixed integer linear programs (MILPs) formulated from STL semantics is NP-hard, meaning solutions can take an absurdly long time to find and the problem is difficult to parallelize. We are interested in finding an algorithm that can asynchronously solve such an optimization problem for multi-agent trajectory planning tasks.