3 citations · 5 across the 8 of their papers we have counts for
7 papers · 1 filter
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…
Shared Situational Awareness Using Hybrid Zonotopes with Confidence Metric
Vandana Narri, Jonah J. Glunt, Joshua A. Robbins +3
Situational awareness for connected and automated vehicles describes the ability to perceive and predict the behavior of other road-users in the near surroundings. However, pedestr…
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…
Sparsity-Promoting Reachability Analysis and Optimization of Constrained Zonotopes
Joshua A. Robbins, Jacob A. Siefert, Herschel C. Pangborn
The constrained zonotope is a polytopic set representation widely used for set-based analysis and control of dynamic systems. This paper develops methods to formulate and solve opt…
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…
Mixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes with Tight Relaxations
Joshua A. Robbins, Jacob A. Siefert, Sean Brennan +1
Autonomous vehicle (AV) motion planning problems often involve non-convex constraints, which present a major barrier to applying model predictive control (MPC) in real time on embe…