5 papers
Motion Planning with Metric Temporal Logic Using Reachability Analysis and Hybrid Zonotopes
Andrew F. Thompson, Joshua A. Robbins, Jonah J. Glunt +2
Metric temporal logic (MTL) provides a formal framework for defining time-dependent mission requirements on autonomous vehicles. However, optimizing control decisions subject to th…
A Model Predictive Control Framework to Enhance Safety and Quality in Mobile Additive Manufacturing Systems
Yifei Li, Joshua A. Robbins, Guha Manogharan +2
In recent years, the demand for customized, on-demand production has grown in the manufacturing sector. Additive Manufacturing (AM) has emerged as a promising technology to enhance…
Integration of a Graph-Based Path Planner and Mixed-Integer MPC for Robot Navigation in Cluttered Environments
Joshua A. Robbins, Stephen J. Harnett, Andrew F. Thompson +2
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using…
Sharp Hybrid Zonotopes: Set Operations and the Reformulation-linearization Technique
Jonah J. Glunt, Joshua A. Robbins, Jacob A. Siefert +2
Mixed integer set representations, and specifically hybrid zonotopes, have enabled new techniques for reachability and verification of nonlinear and hybrid systems. Mixed-integer s…
Energy-Aware Predictive Motion Planning for Autonomous Vehicles Using a Hybrid Zonotope Constraint Representation
Joshua A. Robbins, Andrew F. Thompson, Sean Brennan +1
Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion…