3 citations · 3 across the 4 of their papers we have counts for
4 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…
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…
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…