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Joris Verhagen

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Preprint Sep 2026

Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization

We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remain collision-free while robustly satisfying temporal and logical task requirements. A central component of our method is the formulation of n...

Lukas Pries, Joris Verhagen, Jon Arrizabalaga et al. · 0 citations

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