9 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…
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…
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…
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…
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…