Related papers: On Computing the Minkowski Difference of Zonotopes
Ellipsoids are a common representation for reachability analysis, because they can be transformed efficiently under affine maps, and allow conservative approximation of Minkowski sums, which let one incorporate uncertainty and linearization…
We introduce sparse polynomial zonotopes, a new set representation for formal verification of hybrid systems. Sparse polynomial zonotopes can represent non-convex sets and are generalizations of zonotopes, polytopes, and Taylor models.…
We introduce constrained polynomial zonotopes, a novel non-convex set representation that is closed under linear map, Minkowski sum, Cartesian product, convex hull, intersection, union, and quadratic as well as higher-order maps. We show…
The aim of the paper is to develop a unified algebraical approach to representing the Minkowski difference for convex polyhedra. Namely, there is proposed an exact analytical formulas of the Minkowski difference for convex polyhedra with…
We introduce the M-representation of polytopes, which makes it possible to compute linear transformations, convex hulls, and Minkowski sums with linear complexity in the dimension of the polytopes. When the polytope is a convex hull of a…
We prove that each bounded polytope can be represented as a polynomial zonotope, which we refer to as the Z-representation of polytopes. Previous representations are the vertex representation (V-representation) and the halfspace…
This article presents a new set representation named the hybrid zonotope that is equivalent to the union of $2^N$ constrained zonotopes -- convex polytopes -- through the addition of $N$ binary zonotope factors. The major contribution of…
Minkowski sums cover a wide range of applications in many different fields like algebra, morphing, robotics, mechanical CAD/CAM systems ... This paper deals with sums of polytopes in a n dimensional space provided that both H-representation…
Minkowski sums are of theoretical interest and have applications in fields related to industrial backgrounds. In this paper we focus on the specific case of summing polytopes as we want to solve the tolerance analysis problem described in…
We present an efficient algorithm that computes the Minkowski sum of two polygons, which may have holes. The new algorithm is based on the convolution approach. Its efficiency stems in part from a property for Minkowski sums of polygons…
Zonotopes are studied from the point of view of central symmetry and how volumes of facets and the angles between them determine a zonotope uniquely. New proofs are given for theorems of Shephard and McMullen characterizing a zonotope by…
In formal safety verification, many proposed algorithms use parametric set representations and convert the computation of the relevant sets into an optimization problem; consequently, the choice of parameterization and objective function…
In this paper, I propose a new framework for representing multidimensional incomplete preferences through zonotope-valued utilities, addressing the shortcomings of traditional scalar and vector-based models in decision theory. Traditional…
In this paper, we introduce a set representation called polynomial logical zonotopes for performing exact and computationally efficient reachability analysis on logical systems. We prove that through this polynomial-like construction, we…
The zonotope containment problem, i.e., whether one zonotope is contained in another, is a central problem in control theory. Applications include detecting faults and robustifying controllers by computing invariant sets, and obtain fixed…
The polytope containment problem is deciding whether a polytope is a contained within another polytope. This problem is rooted in computational convexity, and arises in applications such as verification and control of dynamical systems. The…
Many real-world applications require the joint optimization of a large number of flexible devices over time. The flexibility of, e.g., multiple batteries, thermostatically controlled loads, or electric vehicles can be used to support grid…
This paper presents methods for using zonotopes and constrained zonotopes to improve the practicality of a wide variety of set-based operations commonly used in control theory. The proposed methods extend the use of constrained zonotopes to…
Reachability analysis for hybrid nonaffine systems remains computationally challenging, as existing set representations--including constrained, polynomial, and hybrid zonotopes--either lose tightness under high-order nonaffine maps or…
In tolerancing analysis, geometrical or contact specifications can be represented by polytopes. Due to the degrees of invariance of surfaces and that of freedom of joints, these operand polytopes are originally unbounded in most of the…