Related papers: Efficient Reachable Sets on Lie Groups Using Lie A…

Backward reachability analysis computes the set of states that reach a target set under the competing influence of control input and disturbances. Depending on their interplay, the backward reachable set either represents all states that…

We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concept of reachability of a target tube in the control literature…

In this paper, we present a contraction-guided adaptive partitioning algorithm for improving interval-valued robust reachable set estimates in a nonlinear feedback loop with a neural network controller and disturbances. Based on an estimate…

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…

Reachability problems in infinite-state systems are often subject to extremely high complexity. This motivates the investigation of efficient overapproximations, where we add transitions to obtain a system in which reachability can be…

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…

In this paper, we describe a geometric setting for higher-order lagrangian problems on Lie groups. Using left-trivialization of the higher-order tangent bundle of a Lie group and an adaptation of the classical Skinner-Rusk formalism, we…

We propose an approach to compute inner and outer-approximations of the sets of values satisfying constraints expressed as arbitrarily quantified formulas. Such formulas arise for instance when specifying important problems in control such…

This work presents a method of efficiently computing inner and outer approximations of forward reachable sets for nonlinear control systems with changed dynamics and diminished control authority, given an a priori computed reachable set for…

Since their introduction, Lie group integrators have become a method of choice in many application areas. Various formulations of these integrators exist, and in this work we focus on Runge--Kutta--Munthe--Kaas methods. First, we briefly…

In view of controlling finite dimensional open quantum systems, we provide a unified Lie-semigroup framework describing the structure of completely positive trace-preserving maps. It allows (i) to identify the Kossakowski-Lindblad…

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…

In this paper, we propose a scalable and highly efficient index structure for the reachability problem over graphs. We build on the well-known node interval labeling scheme where the set of vertices reachable from a particular node is…

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…

We revisit a fundamental result in real-time verification, namely that the binary reachability relation between configurations of a given timed automaton is definable in linear arithmetic over the integers and reals. In this paper we give a…

We develop a new numerical method for approximating the infinite time reachable set of strictly stable linear control systems. By solving a linear program with a constraint that incorporates the system dynamics, we compute a polytope with…

Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Providing the reachable set is generally impossible when the…

We present a general framework for constructing structure-preserving numerical integrators for nonholonomically constrained mechanical systems evolving on Lie groups using retraction maps. Retraction maps generalize the exponential map and…

The question of open-loop control in the Gaussian regime may be cast by asking which Gaussian unitary transformations are reachable by turning on and off a given set of quadratic Hamiltonians. For compact groups, including finite…

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…