Introduces ST-GCS graphs and ECD for time-optimal single- and multi-robot motion planning via best-first graph search with continuous optimization and prioritized coordination.
arXiv preprint arXiv:2510.22015 , year=
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Framework encodes key-door precedence logic in a layered augmented graph of convex sets for simultaneous optimal sequence selection and continuous trajectory computation with STL specs.
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A Framework for Motion Planning with Temporal Logic Precedence Specifications via Augmented Graphs of Convex Sets
Framework encodes key-door precedence logic in a layered augmented graph of convex sets for simultaneous optimal sequence selection and continuous trajectory computation with STL specs.