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.
MightyL: A compositional translation from MITL to timed automata,
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Signal Temporal Logic Motion Planning via Graphs of Convex Sets
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.