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cs.RO2026
OpenSCvx: An Open-Source Modular and Extensible Nonlinear Trajectory Planning Package
Christopher R. Hayner, Griffin J. Norris, Fabio Spada +4
Trajectory optimization computes dynamically feasible motions that enable autonomous systems to accomplish complex tasks while satisfying operational and environmental constraints.…
math.OC2026
Successive Convexification for Trajectory Optimization with Continuous-time Satisfaction of Signal Temporal Logic Specifications
Samet Uzun, Behçet Açıkmeşe
This paper presents a successive convexification framework for trajectory optimization under continuous-time Signal Temporal Logic (CT-STL) specifications. The framework employs ge…
math.OC2026
Smooth and Exact Parameterization of Continuous-time Signal Temporal Logic Specifications for Trajectory Optimization
Samet Uzun, Behçet Açıkmeşe
This paper presents a smooth parameterization of continuous-time Signal Temporal Logic (CT-STL) specifications for nonconvex trajectory optimization that is sound and complete up t…