22 citations · 37 across the 21 of their papers we have counts for
21 papers · 1 filter
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…
Graph-Based Modeling, Control, and Optimization for Multi-Domain and Multi-Timescale Energy Systems
Joseph M. Pisani, Christopher T. Aksland, Philip M. Renkert +7
Modern energy systems in vehicles and built infrastructure are governed by high-dimensional dynamics spanning multiple physical domains (e.g., electrical, thermal, mechanical) and…
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…
Bi-level Model Predictive Control for Energy-aware Integrated Product Pricing and Production Scheduling
Hongliang Li, Herschel C. Pangborn, Ilya Kovalenko
The manufacturing industry is under growing pressure to enhance sustainability while preserving economic competitiveness. As a result, manufacturers have been trying to determine h…
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…
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…
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…
Learning Networked Dynamical System Models with Weak Form and Graph Neural Networks
Yin Yu, Daning Huang, Seho Park +1
This paper presents a sequence of two approaches for the data-driven control-oriented modeling of networked systems, i.e., the systems that involve many interacting dynamical compo…
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…
A Set-Based Approach for Robust Control Co-Design
Trevor J. Bird, Jacob A. Siefert, Herschel C. Pangborn +1
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. Thi…
zonoLAB: A MATLAB toolbox for set-based control systems analysis using hybrid zonotopes
Justin Koeln, Trevor J. Bird, Jacob Siefert +3
This paper introduces zonoLAB, a MATLAB-based toolbox for set-based control system analysis using the hybrid zonotope set representation. Hybrid zonotopes have proven to be an expr…
A System-Level Energy-Efficient Digital Twin Framework for Runtime Control of Batch Manufacturing Processes
Hongliang Li, Herschel C. Pangborn, Ilya Kovalenko
The manufacturing sector has a substantial influence on worldwide energy consumption. Therefore, improving manufacturing system energy efficiency is becoming increasingly important…
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…
Successor Sets of Discrete-time Nonlinear Systems Using Hybrid Zonotopes
Jacob A. Siefert, Trevor J. Bird, Justin P. Koeln +2
This paper presents identities for calculating over-approximated successor sets of discrete-time nonlinear systems using hybrid zonotopes. The proposed technique extends the state-…
Hybrid zonotopes: a new set representation for reachability analysis of mixed logical dynamical systems
Trevor J. Bird, Herschel C. Pangborn, Neera Jain +1
This article presents a new set representation named the hybrid zonotope that is equivalent to the union of constrained zonotopes -- convex polytopes -- through the addition…
Robust Control Co-Design with Receding-Horizon MPC
Austin L. Nash, Herschel C. Pangborn, Neera Jain
Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. W…