Lagrangian Reachabililty
Abstract
We introduce LRT, a new Lagrangian-based ReachTube computation algorithm that conservatively approximates the set of reachable states of a nonlinear dynamical system. LRT makes use of the Cauchy-Green stretching factor (SF), which is derived from an over-approximation of the gradient of the solution flows. The SF measures the discrepancy between two states propagated by the system solution from two initial states lying in a well-defined region, thereby allowing LRT to compute a reachtube with a ball-overestimate in a metric where the computed enclosure is as tight as possible. To evaluate its performance, we implemented a prototype of LRT in C++/Matlab, and ran it on a set of well-established benchmarks. Our results show that LRT compares very favorably with respect to the CAPD and Flow* tools.
Cite
@article{arxiv.1705.05927,
title = {Lagrangian Reachabililty},
author = {Jacek Cyranka and Md. Ariful Islam and Greg Byrne and Paul Jones and Scott A. Smolka and Radu Grosu},
journal= {arXiv preprint arXiv:1705.05927},
year = {2017}
}
Comments
Accepted to CAV 2017