Set-theoretic Methods for Verification of Closed-loop Systems, Motion Planning, and Energy-aware Autonomy

Abstract: Set-based reachability analysis can be used to verify the performance and safety of a dynamic system by computing the set of all possible trajectories subject to bounded uncertainties in initial states, disturbances, and/or parameters. However, reachability analysis of hybrid and nonlinear systems is computationally challenging due to nonconvexity. This seminar will present a new set representation called the hybrid zonotope and explore its applications to closed-loop control systems and neural networks. In addition to offline verification, hybrid zonotopes can be leveraged online for efficient vehicle motion planning and energy-aware autonomy. The seminar will briefly survey other recent research by the Pangborn Advanced Controls Laboratory (PAC Lab) at Penn State, including predictive control and optimization of energy systems for electrified aircraft.

Bio: Herschel C. Pangborn is an Assistant Professor with the Department of Mechanical Engineering and the Department of Aerospace Engineering (by courtesy) at The Pennsylvania State University. He received the B.S. degree in Mechanical Engineering from The Pennsylvania State University in 2013 and the M.S. and Ph.D. degrees in Mechanical Engineering from the University of Illinois at Urbana–Champaign in 2015 and 2019, respectively. He was a Summer Faculty Fellow with the Air Force Research Laboratory (2020) and received the Office of Naval Research Young Investigator Award (2025). His research interests include model predictive control, optimization, and set-based verification of dynamic systems, including electro-thermal systems in vehicles, buildings, and power grids.

*** This Event will take place in a hybrid format. The location for in-person attendance will be room 1311 EECS. Attendance will also be available via Zoom.

Join Zoom Meeting:https://umich.zoom.us/j/96731875637

Meeting ID: 967 3187 5637

Passcode: XXXXXX (Will be sent via e-mail to attendees)

Zoom Passcode information is also available upon request to Kristi Rieger([email protected])