Related papers: Constrained Polynomial Zonotopes
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 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…
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…
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…
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…
Set operations are well understood for convex sets but become considerably more challenging in the non-convex case due to the loss of structural properties in their representation. Constrained polynomial zonotopes (CPZs) offer an effective…
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…
Aggregations of flexible loads can provide several power system services through demand response programs, for example load shifting and curtailment. The capabilities of demand response should therefore be represented in system operators'…
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…
Zonotopes are becoming an increasingly popular set representation for formal verification techniques. This is mainly due to their efficient representation and their favorable computational complexity of important operations in…
Set representations are the foundation of various set-based approaches in state estimation, reachability analysis and fault diagnosis. In this paper, we investigate spectrahedral shadows, a class of nonlinear geometric objects previously…
Zonoids are Hausdorff limits of zonotopes, while zonotopes are convex polytopes defined as the Minkowski sums of finitely many segments. We present a combinatorial framework that links the study of mixed volumes of zonoids (a topic that has…
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 class of convex sets that admit approximations as Minkowski sum of a compact convex set and a closed convex cone in the Hausdorff distance is introduced. These sets are called approximately Motzkin-decomposable and generalize the notion…
Motivated by a connection with the factorization of multivariate polynomials, we study integral convex polytopes and their integral decompositions in the sense of the Minkowski sum. We first show that deciding decomposability of integral…
Polynomial zonotopes, a non-convex set representation, have a wide range of applications from real-time motion planning and control in robotics, to reachability analysis of nonlinear systems and safety shielding in reinforcement learning.…
We study a class of convex bodies called operatopes that are obtained by taking Minkowski sums of affine images of an operator norm ball. This notion generalizes that of zonotopes which are Minkowksi sums of line segments. Taking the limit…
This paper is about integral zonotopes. It is proven that large zonotopes in a convex cone have a limit shape, meaning that, after suitable scaling, the overwhelming majority of the zonotopes are very close to a fixed convex set. Several…
We investigate the representation of symmetric polynomials as a sum of squares. Since this task is solved using semidefinite programming tools we explore the geometric, algebraic, and computational implications of the presence of discrete…