Research

• Mixed-integer optimization for autonomous vehicle motion planning
• Advanced set representations
• Energy-aware autonomy

Publications

1. 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," 2025. [arXiv]
2. Robbins, J.A., Siefert, J.A., and Pangborn, H.C., "Sparsity-Promoting Reachability Analysis and Optimization of Constrained Zonotopes," 2025. [arXiv] [GIT]
3. Glunt, J.J., Robbins, J.A., Silvestre, D., and Pangborn, H.C., "Sharp Hybrid Zonotopes: Set Operations and the Reformulation-linearization Technique," 2025. [arXiv]
4. Robbins, J.A., Siefert, J.A., Brennan, S., and Pangborn H.C., "Mixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes with Tight Relaxations," 2024. [arXiv]
5. 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. (accepted)
6. 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. (accepted) [arXiv]
7. 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.