Related papers: Scalable Zonotopic Under-approximation of Backward…

This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…

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…

Higher-order pushdown systems (PDSs) generalise pushdown systems through the use of higher-order stacks, that is, a nested "stack of stacks" structure. These systems may be used to model higher-order programs and are closely related to the…

Neural networks (NNs) have been shown to learn complex control laws successfully, often with performance advantages or decreased computational cost compared to alternative methods. Neural network controllers (NNCs) are, however, highly…

Mixed-monotone systems are separable via a decomposition function into increasing and decreasing components, and this decomposition function allows for embedding the system dynamics in a higher-order monotone embedding system. Embedding the…

A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are…

This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors; the…

We introduce an efficient method for learning linear models from uncertain data, where uncertainty is represented as a set of possible variations in the data, leading to predictive multiplicity. Our approach leverages abstract…

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…

Functional decomposition is a powerful tool for systems analysis because it can reduce a function of arbitrary input dimensions to the sum and superposition of functions of a single variable, thereby mitigating (or potentially avoiding) the…

Over-approximating the forward reach sets of controlled dynamical systems subject to set-valued uncertainties is a common practice in systems-control engineering for the purpose of performance verification. However, specific algebraic and…

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…

This paper presents new methods for set-valued state estimation of nonlinear discrete-time systems with unknown-but-bounded uncertainties. A single time step involves propagating an enclosure of the system states through the nonlinear…

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks. Provided that the LTI system is stable and observable via every single sensor and that at least one…

While reinforcement learning produces very promising results for many applications, its main disadvantage is the lack of safety guarantees, which prevents its use in safety-critical systems. In this work, we address this issue by a safety…

This paper presents an elastic tube-based model predictive control (MPC) framework for unknown discrete-time linear systems subject to disturbances. Unlike most existing elastic tube-based MPC methods, we do not assume perfect knowledge of…

Reachability analysis, in general, is a fundamental method that supports formally-correct synthesis, robust model predictive control, set-based observers, fault detection, invariant computation, and conformance checking, to name but a few.…

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 present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these sets and reveals an exact characterization for single-input,…

The past few years have seen immense progress on two fronts that are critical to safe, widespread mobile robot deployment: predicting uncertain motion of multiple agents, and planning robot motion under uncertainty. However, the numerical…