2025
Enforcing Temporal and Spatial Separation Constraints in Multi-Vehicle Trajectory Generation Problems Using a Bernstein Relaxation and Refinement Method
RA-L 2025
Satisfying collision-avoidance constraints at all time instances along vehicles' trajectories is crucial to the success of a multi-vehicle mission. A common approach to handling collision-avoidance constraints in a trajectory generation problem is to check the constraints on some discrete points in