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We present a new average-based robustness score for Signal Temporal Logic(STL) and a framework for optimal control of a dynamical system under STLconstraints. By averaging the scores of different specifications or subformulaeat different time points, our new definition highlights the frequency ofsatisfaction, as well as how robustly each specification is satisfied at eachtime point. We show that this definition provides a better score for how well aspecification is satisfied. Its usefulness in monitoring and control synthesisproblems is illustrated through case studies.

Arithmetic-Geometric Mean Robustness for Control from Signal Temporal Logic Specifications