Author

Shaohang Han

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Preprint Oct 2026

Belief Space Planning for Risk Signal Temporal Logic via Mixed-Integer Convex Programming

Signal Temporal Logic (STL) specifies robot tasks with spatio-temporal requirements, and its robustness semantics allow planning by trajectory optimization. In practice, robots estimate their state from noisy measurements, and when the information gained from a measurement depends on the state, the robot can actively r...

Shao-Hang Han, Joris Verhagen, Kai-Er Liang et al. · 0 citations

Jul 2026

Risk-Aware Belief Control Barrier Functions over Random Finite Sets

This work addresses safe control under the induced multi-object state uncertainty with a risk-aware belief control barrier function (BCBF) framework and establishes forward invariance of the safe set under continuous prediction, and derives an explicit condition under which discrete updates preserve safety.

Shaohang Han, Gang Chen, Yi-Xi Cai et al. · arXiv.org · 0 citations