2026
Multi-Robot Trajectory Planning Via Constrained Bayesian Optimization and Local Cost Map Learning with STL-Based Conflict Resolution
Sourav Raxit, Abdullah Al Redwan Newaz, Jose Fuentes, Paulo Padrao, Ana Cavalcanti, Leonardo Bobadilla
ICRA 2026poster
We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require excessive samples to construct optimal trajectories. We prop…