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cs.RO2025
Exact Smooth Reformulations for Trajectory Optimization Under Signal Temporal Logic Specifications
Shaohang Han, Joris Verhagen, Jana Tumova
We study motion planning under Signal Temporal Logic (STL), a useful formalism for specifying spatial-temporal requirements. We pose STL synthesis as a trajectory optimization prob…
eess.SY2025
Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions
Shaohang Han, Matti Vahs, Jana Tumova
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observa…