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eess.SY2026
A Framework for Motion Planning with Temporal Logic Precedence Specifications via Augmented Graphs of Convex Sets
Shilin You, Gael Luna, Tyler H. Summers
We present a framework for planning trajectories that avoid obstacles and satisfy logical precedence constraints expressed with a fragment of signal temporal logic (STL). Our appro…
eess.SY2026
Pruning the Augmented Graphs of Convex Sets for Scalable Joint Task and Motion Planning
Gael Luna, Tyler Summers
We present top-down and bottom-up approaches for solving large-scale instances of joint task and motion planning problems in Graphs of Convex Sets (GCS). Planning what tasks to per…
eess.SY2025
Motion Planning with Precedence Specifications via Augmented Graphs of Convex Sets
Shilin You, Gael Luna, Juned Shaikh +4
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method…