5 citations · 7 across the 8 of their papers we have counts for
9 papers
Moving Horizon Estimation of Hybrid Systems Using Hybrid Zonotopes and Mixed-Integer Quadratic Programs
Jonah J. Glunt, Herschel C. Pangborn
Moving horizon estimation (MHE) is an estimation technique that formulates an optimization problem over a past horizon to find the states that require the minimum disturbances and…
Hybrid System Planning using a Mixed-Integer ADMM Heuristic and Hybrid Zonotopes
Joshua A. Robbins, Andrew F. Thompson, Jonah J. Glunt +1
Embedded optimization-based planning for hybrid systems is challenging due to the use of mixed-integer programming, which is computationally intensive and often sensitive to the sp…
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…
Automated Functional Decomposition for Hybrid Zonotope Over-approximations with Application to LSTM Networks
Jonah J. Glunt, Jacob A. Siefert, Andrew F. Thompson +2
Functional decomposition is a powerful tool for systems analysis because it can reduce a function of arbitrary input dimensions to the sum and superposition of functions of a singl…
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…
Error Bounds for Compositions of Piecewise Affine Approximations
Jonah J. Glunt, Jacob A. Siefert, Andrew F. Thompson +1
Nonlinear expressions are often approximated by piecewise affine (PWA) functions to simplify analysis or reduce computational costs. To reduce computational complexity, multivariat…
Set-valued State Estimation for Nonlinear Systems Using Hybrid Zonotopes
Jacob A. Siefert, Andrew F. Thompson, Jonah J. Glunt +1
This paper proposes a method for set-valued state estimation of nonlinear, discrete-time systems. This is achieved by combining graphs of functions representing system dynamics and…
Reachability Analysis Using Hybrid Zonotopes and Functional Decomposition
Jacob A. Siefert, Trevor J. Bird, Andrew F. Thompson +4
This paper proposes methods for reachability analysis of nonlinear systems in both open loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a cons…