Related papers: Inner-approximate Reachability Computation via Zon…

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…

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…

Backward reachability analysis is essential to synthesizing controllers that ensure the correctness of closed-loop systems. This paper is concerned with developing scalable algorithms that under-approximate the backward reachable sets, for…

Under-approximations of reachable sets and tubes have been receiving growing research attention due to their important roles in control synthesis and verification. Available under-approximation methods applicable to continuous-time linear…

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 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…

Reachability analysis is a powerful tool for computing the set of states or outputs reachable for a system. While previous work has focused on systems described by state-space models, we present the first methods to compute reachable sets…

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 propose a data-driven reachability analysis approach for unknown system dynamics. Reachability analysis is an essential tool for guaranteeing safety properties. However, most current reachability analysis heavily relies on…

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…

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…

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…

In real world applications, uncertain parameters are the rule rather than the exception. We present a reachability algorithm for linear systems with uncertain parameters and inputs using set propagation of polynomial zonotopes. In contrast…

This paper addresses a fundamental challenge in data-driven reachability analysis: accurately representing and propagating non-convex reachable sets. We propose a novel approach using constrained polynomial zonotopes to describe reachable…

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.…

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…

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…

Over-approximating the reachable sets of dynamical systems is a fundamental problem in safety verification and robust control synthesis. The representation of these sets is a key factor that affects the computational complexity and the…

The zonotope containment problem, i.e., whether one zonotope is contained in another, is a central problem in control theory. Applications include detecting faults and robustifying controllers by computing invariant sets, and obtain fixed…