  Signal Temporal Logic (STL) provides a convenient way of encoding complex
control objectives for robotic and cyber-physical systems. The state-of-the-art
in trajectory synthesis for STL is based on Mixed-Integer Convex Programming
(MICP). The MICP approach is sound and complete, but has limited scalability
due to exponential complexity in the number of binary variables. In this
letter, we propose a more efficient MICP encoding for STL. Our new encoding is
based on the insight that disjunction can be encoded using a logarithmic number
of binary variables and conjunction can be encoded without binary variables. We
demonstrate in simulation examples that our proposed approach significantly
outperforms the state-of-the-art for long and complex specifications.
Open-source software is available at https://stlpy.readthedocs.io.
