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cs.RO2026
Belief Space Planning for Risk Signal Temporal Logic via Mixed-Integer Convex Programming
Shaohang Han, Joris Verhagen, Kaier Liang +1
Signal Temporal Logic (STL) specifies robot tasks with spatio-temporal requirements, and its robustness semantics allow planning by trajectory optimization. In practice, robots est…
cs.RO2026
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the states of an unknown and time-varying number of moving objects from n…