Presents a successive convexification framework that enforces continuous-time STL specifications in trajectory optimization via GMSR robustness and prox-convex solving.
IEEE Control Systems Letters 5, 241–246
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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.
The paper formulates single-UAV medical delivery trajectory planning as a convex optimization problem that incorporates signal temporal logic for temporal constraints and convex feasible set collision avoidance for urban obstacles.
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STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle
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.