Related papers: Convex Hulls of Reachable Sets
This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…
In this paper we propose a convex programming based method to address a long-standing problem of inner-approximating backward reachable sets of state-constrained polynomial systems subject to time-varying uncertainties. The backward…
Many uncertainty sets encountered in control systems analysis and design can be expressed in terms of semialgebraic sets, that is as the intersection of sets described by means of polynomial inequalities. Important examples are for instance…
The problem of finding the convex hull of an IFS fractal is relevant in both theoretical and computational settings. Various methods exist that approximate it, but our aim is its exact determination. The finiteness of extremal points is…
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…
Counting Euclidean triangulations with vertices in a finite set $\C$ of the convex hull $\conv(\C)$ of $\C$ is difficult in general, both algorithmically and theoretically. The aim of this paper is to describe nearly convex polygons, a…
We develop an algorithm for computing bounded reachability probability for hybrid systems, i.e., the probability that the system reaches an unsafe region within a finite number of discrete transitions. In particular, we focus on hybrid…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
In this paper, an effective method with time complexity of $\mathcal{O}(K^{3/2}N^2\log \frac{K}{\epsilon_0})$ is introduced to find an approximation of the convex hull for $N$ points in dimension $n$, where $K$ is close to the number of…
We study properties of the convex hull of a set $S$ described by quadratic inequalities. A simple way of generating inequalities valid on $S$ is to take a nonnegative linear combinations of the defining inequalities of $S$. We call such…
We study the convex hull of a set $S\subset \mathbb{R}^n$ defined by three quadratic inequalities. A simple way of generating inequalities valid on $S$ is to take nonnegative linear combinations of the defining inequalities of $S$. We call…
We investigate the explicit convex relaxation of the ideal magnetohydrodynamics equations. We provide a non-trivial lower estimate on the lamination hull and an upper estimate on the $\Lambda$-convex hull, the latter providing inequalities…
We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented for different types of systems generating the data. First, an algorithm for computing…
Necessary and sufficient conditions for the square-integrability of recently proposed unbiased estimators are established. A geometric characterization of a distribution that optimizes the performance of these estimators is given. An…
We consider convex hulls of random walks whose steps belong to the domain of attraction of a stable law in $\mathbb{R}^d$. We prove convergence of the convex hull in the space of all convex and compact subsets of $\mathbb{R}^d$, equipped…
Reachability analysis evaluates system safety, by identifying the set of states a system may evolve within over a finite time horizon. In contrast to model-based reachability analysis, data-driven reachability analysis estimates reachable…
We study constrained selection sets of random closed sets defined on a non-atomic probability space. Given a random interval $Y=[y_L,y_U]$ and scalar constraints on the expectation or the median of admissible selections, we characterize the…
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…
Learning-enabled planning and control algorithms are increasingly popular, but they often lack rigorous guarantees of performance or safety. We introduce an algorithm for computing underapproximate backward reachable sets of nonlinear…
A quadratically constrained quadratic program (QCQP) is an optimization problem in which the objective function is a quadratic function and the feasible region is defined by quadratic constraints. Solving non-convex QCQP to global…