Pith Number

pith:KQ3I5GIT

pith:2025:KQ3I5GIT5YN7YNNRRLXAXZWNBD

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STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle

Amr Afifi, Antonio Franchi, Giuseppe Silano, Martin Saska

Signal temporal logic specifications let a multi-rotor vehicle plan safe trajectories for human collaboration while quantifying risks from pose uncertainty and replanning on events.

arxiv:2509.10692 v4 · 2025-09-12 · cs.RO

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\pithnumber{KQ3I5GIT5YN7YNNRRLXAXZWNBD}

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Record completeness

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3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The framework achieves safe, efficient, and resilient human-robot collaboration under realistic operating conditions by encoding mission objectives in STL, generating dynamically feasible trajectories, and using uncertainty-aware risk analysis with event-triggered replanning.

C2weakest assumption

The non-convex optimization problem can be reliably solved using smooth robustness approximations and gradient-based techniques without getting stuck in poor local minima or violating constraints in real-time execution (abstract, optimization paragraph).

C3one line summary

The paper proposes an STL-based optimization planner with uncertainty-aware risk analysis and event-triggered replanning for safe human-drone collaboration, demonstrated in simulations of an object handover task.

References

64 extracted · 64 resolved · 0 Pith anchors

[1] In: 2013 American Control Conference, pp 2013 · doi:10.1109/acc.2013.6580518

[2] ACM Transaction on Embedded Computing Systems12(2s) Title Suppressed Due to Excessive Length 35 (2013) 2013 · doi:10.1145/2465787.2465797

[3] In: 2022 International Conference on Robotics and Automation (ICRA) 2022 · doi:10.1109/icra46639.2022

[4] Autonomous Robots42(5), 957–975 (2018) 2018 · doi:10.1007/s10514-017-9677-2

[5] IEEE Access8, 201300–201316 (2020) 2020

Cited by

1 paper in Pith

An Algebraic Framework for Quantitative Semantics of Spatio-Temporal Logic with Graph Operators

Receipt and verification

First computed	2026-07-29T01:25:29.065792Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

54368e9913ee1bfc35b18aee0be6cd08ca7aa5a7191c812f6de82fc9c9bfe246

Aliases

arxiv: 2509.10692 · arxiv_version: 2509.10692v4 · doi: 10.48550/arxiv.2509.10692 · pith_short_12: KQ3I5GIT5YN7 · pith_short_16: KQ3I5GIT5YN7YNNR · pith_short_8: KQ3I5GIT

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/KQ3I5GIT5YN7YNNRRLXAXZWNBD \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 54368e9913ee1bfc35b18aee0be6cd08ca7aa5a7191c812f6de82fc9c9bfe246

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "248ceb5ad1385e3eef8bc253d7fb3281858b428b6e34617e268e8d68f7380418",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-09-12T21:09:57Z",
    "title_canon_sha256": "6f77843de56d205148844bd293a3cc8628eacb8984f9cc743490178b666640ed"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.10692",
    "kind": "arxiv",
    "version": 4
  }
}