Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.
Trajec- tory planning with signal temporal logic costs using deterministic path integral optimization
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Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic
Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.