Millet Vegetable Burgers

Name: Millet Vegetable Burgers
Ingredients: 1 ½ cups cooked millet, room temperature; 1 tablespoon finely minced shallot; 1 clove minced garlic; ½ cup peeled and finely grated carrot, loosely packed; ¼ cup finely grated zucchini; 1 tablespoon chopped parsley; 1 teaspoon chopped thyme; 1 tablespoon extra-virgin olive oil; 1 large egg, lightly whisked; 1 ½ teaspoons coarse salt; ¼ teaspoon ground pepper; 2 tablespoons canola oil, plus more for cooking; 4 whole-grain hamburger buns, toasted; Green leaf lettuce; Tomato slices; ½ cup Greek yogurt