A new smoothing method, GRASHS, extends the RASHS trajectory optimization approach to handle arbitrary boolean logic (AND, OR, NOT) by converting it to disjunctive normal form and embedding it in smooth equations of motion.
Dierential automata and their discrete simulators
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Indirect Optimization of Multi-Phase Trajectories Involving Arbitrary Discrete Logic
A new smoothing method, GRASHS, extends the RASHS trajectory optimization approach to handle arbitrary boolean logic (AND, OR, NOT) by converting it to disjunctive normal form and embedding it in smooth equations of motion.