Presents a successive convexification framework that enforces continuous-time STL specifications in trajectory optimization via GMSR robustness and prox-convex solving.
Geometry aware NMPC scheme for morphing quadrotor naviga- tion in restricted entrances
3 Pith papers cite this work. Polarity classification is still indexing.
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A smooth exponential obstacle cost with reduction factor in nonlinear MPC allows morphing quadrotors to traverse narrow gaps under limited 2D LiDAR perception.
A SHAP analysis framework is introduced to decompose configuration impacts on RL generalization and guide selection for improved performance in robotics.
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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.