Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.
Control barrier functions for nonholonomic systems under risk signal temporal logic specifications
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Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic
Transforms lexicographic minimum-violation STL motion planning into scalar optimization using non-uniform quantization and bit-shifting for efficient MPPI solving.