Related papers: Efficient Reachable Sets on Lie Groups Using Lie A…
Classical mathematical techniques such as discrete integration, gradient descent optimization, and state estimation (exemplified by the Runge-Kutta method, Gauss-Newton minimization, and extended Kalman filter or EKF, respectively), rely on…
We develop the theory of discrete time Lagrangian mechanics on Lie groups, originated in the work of Veselov and Moser, and the theory of Lagrangian reduction in the discrete time setting. The results thus obtained are applied to the…
The first part of this paper is devoted to introducing an approach to compute the approximate minimum time function of control problems which is based on reachable set approximation and uses arithmetic operations for convex compact sets. In…
We develop aspects of geometric control theory on Lie groups G which may be infinite dimensional, and on smooth G-manifolds M modelled on locally convex spaces. As a tool, we discuss existence and uniqueness questions for differential…
We give conditions on a diffeological group $G$ and a normal subgroup $H$ under which the quotient group $G/H$ differentiates to a Lie algebra for which $\operatorname{Lie}(G/H) \cong \operatorname{Lie}(G)/\operatorname{Lie}(H)$. Our Lie…
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…
Transient stability assessment of power systems needs to account for increased risk from uncertainties due to the integration of renewables and distributed generators. The uncertain operating condition of the power grid hinders reliable…
In this paper, we characterize the accessibility of discrete-time linear control systems on Lie groups. Using an exceptional notion of derivative, we construct a subalgebra $\mathfrak{h}$ based on the infinitesimal automorphism of the…
We propose a new approach to compute an interval over-approximation of the finite time reachable set for a large class of nonlinear systems. This approach relies on the notions of sensitivity matrices, which are the partial derivatives…
We study index theory on homogeneous spaces associated to an almost connected Lie group in terms of the topological aspect and the analytic aspect. On the topological aspect, we obtain a topological formula as a result of the Riemann-Roch…
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.…
In this paper, high-order numerical integrators on homogeneous spaces will be presented as an application of nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie groups. A homogeneous space $M$ is a manifold where a group…
We discuss the Poisson structures on Lie groups and propose an explicit construction of the integrable models on their appropriate Poisson submanifolds. The integrals of motion for the SL(N)-series are computed in cluster variables via the…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
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…
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…
In this paper, we consider the computational complexity of bounding the reachable set of a Linear Time-Invariant (LTI) system controlled by a Rectified Linear Unit (ReLU) Two-Level Lattice (TLL) Neural Network (NN) controller. In…
Reachability and LTL model-checking problems for flat counter systems are known to be decidable but whereas the reachability problem can be shown in NP, the best known complexity upper bound for the latter problem is made of a tower of…
Let $G$ be a semidirect product of a simply connected nilpotent Lie group and $\R$. For a left invariant control system on $G$ with a convex cone as a control domain, it is proved that the attainable sets coincides with a "halfspace" if the…