5 papers
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…
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…
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…
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…