5 papers
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…
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…
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…