The STL motion-planning problem is reformulated as a shortest-path problem over a graph of convex sets to generate smooth Bézier-spline trajectories satisfying logical, timing, smoothness, and velocity constraints.
Faster algorithms for growing collision-free convex polytopes in robot configuration space
3 Pith papers cite this work. Polarity classification is still indexing.
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Neural CDF barriers enable efficient planning and distributionally robust safe control for manipulators in cluttered dynamic environments using only point-cloud observations.
Integrates CBBA task allocation with GCS trajectory optimization in time-extended space for multi-agent systems in dynamic cluttered environments.
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Neural Configuration-Space Barriers for Manipulation Planning and Control
Neural CDF barriers enable efficient planning and distributionally robust safe control for manipulators in cluttered dynamic environments using only point-cloud observations.