Presents a successive convexification framework that enforces continuous-time STL specifications in trajectory optimization via GMSR robustness and prox-convex solving.
In: 53rd IEEE Conference on Decision and Control, pp
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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.
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Successive Convexification for Trajectory Optimization with Continuous-time Satisfaction of Signal Temporal Logic Specifications
Presents a successive convexification framework that enforces continuous-time STL specifications in trajectory optimization via GMSR robustness and prox-convex solving.