Related papers: Lagrangian Reachabililty
We present an algorithm for data-driven reachability analysis that estimates finite-horizon forward reachable sets for general nonlinear systems using level sets of a certain class of polynomials known as Christoffel functions. The level…
We propose a method for predicting the nonlinear saturation level of convective instabilities in neutral and magnetized fluids. The method combines Gardner's restacking algorithm, which computes the available energy and ground states of…
Recurrent neural networks (RNNs) are widely employed to model complex dynamical systems due to their hidden-state structure, which inherently captures temporal dependencies. This work presents a hybrid zonotope-based approach for computing…
Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, which maximizes the probability that the state remains within…
Linear Time Invariant (LTI) systems are ubiquitous in control applications. Unbounded-time reachability analysis that can cope with industrial-scale models with thousands of variables is needed. To tackle this problem, we use abstract…
We propose a scalable method for forward stochastic reachability analysis for uncontrolled linear systems with affine disturbance. Our method uses Fourier transforms to efficiently compute the forward stochastic reach probability measure…
Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…
We propose a novel ensemble method called Riemann-Lebesgue Forest (RLF) for regression. The core idea in RLF is to mimic the way how a measurable function can be approximated by partitioning its range into a few intervals. With this idea in…
The Liquid Reasoning Transformer (LRT) is a transformer architecture designed for inference with adaptive depths using iterative changes, discard-based correction, and a learned stopping mechanism. Instead of relying on a single feedforward…
In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. Based on an estimate…
RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…
Latent world models can contain the state needed for control, yet their terminal-cost interface can expose the planner to the wrong decision-relevant information. In common latent MPC, candidate sequences are ranked by Euclidean distance…
In this paper, we present a novel RRT*-based strategy for generating kinodynamically feasible paths that satisfy temporal logic specifications. Our approach integrates a robustness metric for Linear Temporal Logics (LTL) with the system's…
Estimation of nonlinear dynamic models from data poses many challenges, including model instability and non-convexity of long-term simulation fidelity. Recently Lagrangian relaxation has been proposed as a method to approximate simulation…
Reachability analysis is a fundamental program analysis with a wide variety of applications. We present FlowCFL, a framework for type-based reachability analysis in the presence of mutable data. Interestingly, the underlying semantics of…
The Plateau-Rayleigh instability causes the fragmentation of a liquid ligament into smaller droplets. In this study a numerical study of this phenomenon based on a single relaxation time (SRT) pseudo-potential lattice Boltzmann method (LBM)…
An important mathematical tool in the analysis of dynamical systems is the approximation of the reach set, i.e., the set of states reachable after a given time from a given initial state. This set is difficult to compute for complex systems…
In this mini-review we summarize the progress of Lattice Boltzmann(LB) modeling and simulating compressible flows in our group in recent years. Main contents include (i) Single-Relaxation-Time(SRT) LB model supplemented by additional…
In this paper we present and analyze a general framework for constructing high order explicit local time stepping (LTS) methods for hyperbolic conservation laws. In particular, we consider the model problem discretized by Runge-Kutta…
We propose a novel Branch-and-Bound method for reachability analysis of neural networks in both open-loop and closed-loop settings. Our idea is to first compute accurate bounds on the Lipschitz constant of the neural network in certain…