Efficient Hybrid Hard--Soft Signal Temporal Logic MPC for Driving under Multimodal Uncertainty

Motion planning for automated vehicles in interactive traffic has to simultaneously ensure safety, respect traffic rules, and maintain comfortable progress under multi-modal behavior uncertainty. Imposing all these requirements as hard constraints reduces feasibility, whereas treating them all as costs allows safety-critical requirements to be traded against progress.

초록에서 가져왔습니다. 요약을 준비 중입니다.