Related papers: Scalable Zonotopic Under-approximation of Backward…
Reachability analysis is a formal method to guarantee safety of dynamical systems under the influence of uncertainties. A substantial bottleneck of all reachability algorithms is the necessity to adequately tune specific algorithm…
The proliferation of neural networks in safety-critical applications necessitates the development of effective methods to ensure their safety. This letter presents a novel approach for computing the exact backward reachable sets of neural…
We present a method to over-approximate reachable tubes over compact time-intervals, for linear continuous-time, time-varying control systems whose initial states and inputs are subject to compact convex uncertainty. The method uses…
Scalable safety verification of continuous state dynamic systems has been demonstrated through both reachability and viability analyses using parametric set representations; however, these two analyses are not interchangable in practice for…
This paper addresses a fundamental challenge in data-driven reachability analysis: accurately representing and propagating non-convex reachable sets. We propose a novel approach using constrained polynomial zonotopes to describe reachable…
This paper over-approximates the reachable sets of a continuous-time uncertain system using the sensitivity of its trajectories with respect to initial conditions and uncertain parameters. We first prove the equivalence between an existing…
This paper introduces zonoLAB, a MATLAB-based toolbox for set-based control system analysis using the hybrid zonotope set representation. Hybrid zonotopes have proven to be an expressive set representation that can exactly represent the…
We study the problem of computing robust controllable sets for discrete-time linear systems with additive uncertainty. We propose a tractable and scalable approach to inner- and outer-approximate robust controllable sets using constrained…
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.…
Conformal prediction is a popular uncertainty quantification method that augments a base predictor to return sets of predictions with statistically valid coverage guarantees. However, current methods are often computationally expensive and…
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 addresses the conservatism in data-driven reachability analysis for discrete-time linear systems subject to bounded process noise, where the system matrices are unknown and only input--state trajectory data are available.…
Over-approximating the reachable sets of dynamical systems is a fundamental problem in safety verification and robust control synthesis. The representation of these sets is a key factor that affects the computational complexity and the…
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…
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…
Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires…
Reachability analysis is a key formal verification technique for ensuring the safety of modern cyber physical systems subject to uncertainties in measurements, system models (parameters), and inputs. Classical model-based approaches rely on…
Efficiently handling time-triggered and possibly nondeterministic switches for hybrid systems reachability is a challenging task. In this paper we present an approach based on conservative set-based enclosure of the dynamics that can handle…
Artificial neural networks have recently been utilized in many feedback control systems and introduced new challenges regarding the safety of such systems. This paper considers the safe verification problem for a dynamical system with a…
This paper investigates the application of zonotope-based reachability analysis to low-thrust spacecraft in both two-body and cislunar environments. Reachable sets are generated under two-body and circular restricted three-body (CR3BP)…