Related papers: Convex Hulls of Reachable Sets
Convex hulls are fundamental objects in computational geometry. In moderate dimensions or for large numbers of vertices, computing the convex hull can be impractical due to the computational complexity of convex hull algorithms. In this…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
In this paper, we study the mixed-integer nonlinear set given by a separable quadratic constraint on continuous variables, where each continuous variable is controlled by an additional indicator. This set occurs pervasively in optimization…
Convex hulls are a fundamental geometric tool used in a number of algorithms. As a side-effect of exhaustive tests for an algorithm for which a convex hull computation was the first step, interesting experimental results were found and are…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
This article describes a method to compute successive convex approximations of the convex hull of a set of points in R^n that are the solutions to a system of polynomial equations over the reals. The method relies on sums of squares of…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of…
Neural Networks (NNs) can provide major empirical performance improvements for closed-loop systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating…
We study the problem of estimating the convex hull of the image $f(X)\subset\mathbb{R}^n$ of a compact set $X\subset\mathbb{R}^m$ with smooth boundary through a smooth function $f:\mathbb{R}^m\to\mathbb{R}^n$. Assuming that $f$ is a…
The convex hull of a set of points, $C$, serves to expose extremal properties of $C$ and can help identify elements in $C$ of high interest. For many problems, particularly in the presence of noise, the true vertex set (and facets) may be…
In this paper, we present an analytical approach for the synthesis of ellipsoidal probabilistic reachable sets of saturated systems subject to unbounded additive noise. Using convex optimization methods, we compute a contraction factor of…
One of the most important problems in hybrid systems is the {\em reachability problem}. The reachability problem has been shown to be undecidable even for a subclass of {\em linear} hybrid systems. In view of this, the main focus in the…
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…
We study the convex-hull problem in a probabilistic setting, motivated by the need to handle data uncertainty inherent in many applications, including sensor databases, location-based services and computer vision. In our framework, the…
In this work we deal with the problem of support estimation under shape restrictions. The shape restriction we deal with is an extension of the notion of convexity named alpha-convexity. Instead of assuming, as in the convex case, the…
Seeking the convex hull of an object is a very fundamental problem arising from various tasks. In this work, we propose two variational convex hull models using level set representation for 2-dimensional data. The first one is an exact…
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…
The geometric problem of estimating an unknown compact convex set from evaluations of its support function arises in a range of scientific and engineering applications. Traditional approaches typically rely on estimators that minimize the…
We develop a sketching algorithm to find the point on the convex hull of a dataset, closest to a query point outside it. Studying the convex hull of datasets can provide useful information about their geometric structure and their…