Related papers: zonoLAB: A MATLAB toolbox for set-based control sy…
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…
The increasing prevalence of neural networks in safety-critical control systems underscores the imperative need for rigorous methods to ensure the reliability and safety of these systems. This work introduces a novel approach employing…
This paper proposes methods for reachability analysis of nonlinear systems in both open loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a construct called a state-update set, functional decomposition,…
Feedforward neural networks are widely used in autonomous systems, particularly for control and perception tasks within the system loop. However, their vulnerability to adversarial attacks necessitates formal verification before deployment…
This paper introduces ZETA, a new MATLAB library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems. It features user-friendly implementations of set representations based on zonotopes, namely zonotopes, constrained…
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…
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…
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.…
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…
This paper proposes a method for set-valued state estimation of nonlinear, discrete-time systems. This is achieved by combining graphs of functions representing system dynamics and measurements with the hybrid zonotope set representation…
In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. In particular, we develop an algorithm for obtaining zonotopic…
In this paper, we propose reachability analysis using constrained polynomial logical zonotopes. We perform reachability analysis to compute the set of states that could be reached. To do this, we utilize a recently introduced set…
Zonotopes are widely used for over-approximating forward reachable sets of uncertain linear systems for verification purposes. In this paper, we use zonotopes to achieve more scalable algorithms that under-approximate backward reachable…
Metric temporal logic (MTL) provides a formal framework for defining time-dependent mission requirements on autonomous vehicles. However, optimizing control decisions subject to these constraints is often computationally expensive. This…
We employ reachability analysis in designing dynamic quantization schemes for the remote state estimation of linear systems over a finite date rate communication channel. The quantization region is dynamically updated at each transmission…
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…
A logical zonotope, which is a new set representation for binary vectors, is introduced in this paper. A logical zonotope is constructed by XOR-ing a binary vector with a combination of other binary vectors called generators. Such 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)…
This paper presents identities for calculating over-approximated successor sets of discrete-time nonlinear systems using hybrid zonotopes. The proposed technique extends the state-update set construct, previously developed for linear hybrid…
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…