4 papers
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…
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…