Research

• Optimization-based planning and control
• Reachability analysis
• Safety-assured autonomy
• Advanced set representations

Publications

1. Thompson, A.F., Robbins, J.A., Glunt, J.J., Brennan, S.B., and Pangborn, H.C., "Motion Planning with Metric Temporal Logic Using Reachability Analysis and Hybrid Zonotopes," 2026. [arXiv] 
2. Robbins, J.A., Siefert, J.A., Brennan, S., and Pangborn H.C., "Mixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes with Tight Relaxations," IEEE Transactions on Control Systems Technology (in press), 2026. [arXiv]
3. Narri, V., Glunt, J.J., Robbins, J.A., Mårtensson, J., Pangborn, H.C., and Johansson, K.H., "Shared Situational Awareness Using Hybrid Zonotopes with Confidence Metric," 2025. [arXiv]
4. Robbins, J.A., Harnett, S.J. , Thompson, A.F., Brennan, S., and Pangborn H.C., "Integration of a Graph-Based Path Planner and Mixed-Integer MPC for Robot Navigation in Cluttered Environments," Modeling, Estimation and Control Conference, 2025. [arXiv] [Video]
5. Robbins, J.A., Siefert, J.A., and Pangborn, H.C., "Sparsity-Promoting Reachability Analysis and Optimization of Constrained Zonotopes," 2025. [arXiv] [GIT]
6. Glunt, J.J., Robbins, J.A., Silvestre, D., and Pangborn, H.C., "Sharp Hybrid Zonotopes: Set Operations and the Reformulation-linearization Technique," IEEE Control Systems Letters, 2025.
7. Li., Y., Robbins, J.A., Manogharan, G., Pangborn, HC., and Kovalenko, I., “A Model Predictive Control Framework to Enhance Safety and Quality in Mobile Additive Manufacturing Systems,” IEEE International Conference on Automation Science and Engineering, 2025.
8. Robbins, J.A., Thompson, A.F., Brennan, S., and Pangborn H.C., "Energy-Aware Predictive Motion Planning for Autonomous Vehicles Using a Hybrid Zonotope Constraint Representation," American Control Conference, 2025. [arXiv] [Video]
9. Thompson, A.F., Robbins, J.A., Boler, M.E., and Pangborn, H.C., "Mixed-Integer Moving Horizon Estimation for Terrain-Aided Navigation Using Hybrid Zonotopes," IEEE/ION Position, Location and Navigation Symposium, 2025.
10. Robbins, J.A., Brennan, S.B., and Pangborn, H.C., Efficient Solution of Mixed-Integer MPC Problems for Obstacle Avoidance Using Hybrid Zonotopes,” IEEE Conference on Decision and Control, 2024.