Minimum-Violation Velocity Planning with Temporal Logic Constraints. - Patrick Halder; Matthias Althoff (ITSC, 2022)

Lexicographic Mixed-Integer Motion Planning with STL Constraints. - Patrick Halder; Fabian Christ; Matthias Althoff (ITSC, 2023)

Trajectory Planning with Signal Temporal Logic Costs using Deterministic Path Integral Optimization. - Patrick Halder; Hannes Homburger; Lothar Kiltz; Johannes Reuter; Matthias Althoff (CoRR, 2025)