Related papers: Efficient Reachable Sets on Lie Groups Using Lie A…
The limited penetrable horizontal visibility algorithm is a new time analysis tool and is a further development of the horizontal visibility algorithm. We present some exact results on the topological properties of the limited penetrable…
In control theory, understanding the observability property of a system is crucial for effectively managing and controlling dynamical systems. This property empowers us to deduce the internal state of a system from its outputs over time,…
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…
We study the convex hulls of reachable sets of nonlinear systems with bounded disturbances and uncertain initial conditions. Reachable sets play a critical role in control, but remain notoriously challenging to compute, and existing…
This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…
We show that linearly repetitive weighted Delone sets in groups of polynomial growth have a uniquely ergodic hull. This result applies in particular to the linearly repetitive weighted Delone sets in homogeneous Lie groups constructed in…
Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, which maximizes the probability that the state remains within…
We consider a group of computation units trying to cooperatively solve a distributed optimization problem with shared linear equality and inequality constraints. Assuming that the computation units are communicating over a network whose…
In this paper, we present a data-driven framework for real-time estimation of reachable sets for control systems where the plant is modeled using neural networks (NNs). We utilize a running example of a quadrotor model that is learned using…
In this paper we present a new procedure to obtain unitary and irreducible representations of Lie groups starting from the cotangent bundle of the group (the cotangent group). We discuss some applications of the construction in…
Despite the possibility to quickly compute reachable sets of large-scale linear systems, current methods are not yet widely applied by practitioners. The main reason for this is probably that current approaches are not push-button-capable…
The reachability analysis of recursive programs that communicate asynchronously over reliable FIFO channels calls for restrictions to ensure decidability. Our first result characterizes communication topologies with a decidable reachability…
In this paper we present the theorem on Lie integrability by quadratures for time-independent Hamiltonian systems on symplectic and contact manifolds, and for time-dependent Hamiltonian systems on cosymplectic and cocontact manifolds. We…
The Butcher group is a powerful tool to analyse integration methods for ordinary differential equations, in particular Runge--Kutta methods. Recently, a natural Lie group structure has been constructed for this group. Unfortunately, the…
We investigate how the concepts of optimal control of measurables of a system with a time dependent Hamiltonian may be mixed with the level set technique to keep the desired entity invariant. We derive sets of equations for this purpose and…
This work studies the planning problem for robotic systems under both quantifiable and unquantifiable uncertainty. The objective is to enable the robotic systems to optimally fulfill high-level tasks specified by Linear Temporal Logic (LTL)…
We present a semi-analytical method for exact computation of the boundary of the reach set of a single-input controllable linear time invariant (LTI) system with given bounds on its input range. In doing so, we deduce a parametric formula…
This thesis focuses on the Lie-theoretic foundations of controlled open quantum systems. We describe Markovian open quantum system evolutions by Lie semigroups, whose corresponding infinitesimal generators lie in a special type of convex…
The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…
In control theory, researchers need to understand a system's local and global behaviors in relation to its initial conditions. When discussing observability, the main focus is on the ability to analyze the system using an output space…