A Tree Structure Approach to Reachability Analysis
Optimization and Control
2022-10-27 v2
Abstract
Reachability analysis is a powerful tool when it comes to capturing the behaviour, thus verifying the safety, of autonomous systems. However, general-purpose methods, such as Hamilton-Jacobi approaches, suffer from the curse of dimensionality. In this paper, we mitigate this problem for systems of moderate dimension and we propose a new algorithm based on a tree structure approach with geometric pruning. The numerical examples will include a comparison with a standard finite-difference method for linear and nonlinear problems
Keywords
Cite
@article{arxiv.2210.13779,
title = {A Tree Structure Approach to Reachability Analysis},
author = {Alessandro Alla and Peter M. Dower and Vincent Liu},
journal= {arXiv preprint arXiv:2210.13779},
year = {2022}
}