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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…