Related papers: Over-approximating reachable tubes of linear time-…
Reachable set computation is an important technique for the verification of safety properties of dynamical systems. In this paper, we investigate reachable set computation for discrete nonlinear systems based on parallelotope bundles. The…
We provide a tutorial introduction to reachability computation, a class of computational techniques that exports verification technology toward continuous and hybrid systems. For open under-determined systems, this technique can sometimes…
Accurately modeling and verifying the correct operation of systems interacting in dynamic environments is challenging. By leveraging parametric uncertainty within the model description, one can relax the requirement to describe exactly the…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
This work proposes an implementable proximal-type method for a broad class of optimization problems involving nonsmooth and nonconvex objective and constraint functions. In contrast to existing methods that rely on an ad hoc model…
This paper is about robust Model Predictive Control (MPC) for linear systems with additive and multiplicative uncertainty. A novel class of configuration-constrained polytopic robust forward invariant tubes is introduced, which admit a…
We consider controllable linear discrete-time systems with bounded perturbations and present two methods to compute robust controlled invariant sets. The first method tolerates an arbitrarily small constraint violation to compute an…
In this work, we address the issue of controller synthesis for a control-affine nonlinear system to meet prescribed time reach-avoid-stay specifications. Our goal is to improve upon previous methods based on spatiotemporal tubes (STTs) by…
The reachable sets of nonlinear control systems can in general only be numerically approximated, and are often very expensive to calculate. In this paper, we propose an algorithm that tracks only the boundaries of the reachable sets and…
This paper combines two ingredients in order to get a rather surprising result on one of the most studied, elegant and powerful tools for solving convex feasibility problems, the method of alternating projections (MAP). Going back to names…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. Alur, Wojtczak, and…
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these sets can be computationally expensive,…
In this paper, we efficiently compute overapproximating reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric integration theory. We consider intervals in the tangent…
This paper proposes a novel tube-based Model Predictive Control (MPC) framework for tracking varying setpoint references with linear systems subject to additive and multiplicative uncertainties. The MPC controllers designed using this…
We study fundamental reachability problems on pseudo-orbits of linear dynamical systems. Pseudo-orbits can be viewed as a model of computation with limited precision and pseudo-reachability can be thought of as a robust version of classical…
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.…
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…
In this paper a constructive method to determine and compute probabilistic reachable and invariant sets for linear discrete-time systems, excited by a stochastic disturbance, is presented. The samples of the disturbance signal are not…
Reachability analysis is a powerful tool for computing the set of states or outputs reachable for a system. While previous work has focused on systems described by state-space models, we present the first methods to compute reachable sets…
In this thesis, we provide an initial investigation into bounds for topological entropy of switched linear systems. Entropy measures, roughly, the information needed to describe the behavior of a system with finite precision on finite time…