Related papers: Inner-approximate Reachability Computation via Zon…
Conformal prediction is a popular uncertainty quantification method that augments a base predictor to return sets of predictions with statistically valid coverage guarantees. However, current methods are often computationally expensive and…
In this paper we propose an improvement for flowpipe-construction-based reachability analysis techniques for hybrid systems. Such methods apply iterative successor computations to pave the reachable region of the state space by state sets…
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…
We propose a scalable method for forward stochastic reachability analysis for uncontrolled linear systems with affine disturbance. Our method uses Fourier transforms to efficiently compute the forward stochastic reach probability measure…
Validating and controlling safety-critical systems in uncertain environments necessitates probabilistic reachable sets of future state evolutions. The existing methods of computing probabilistic reachable sets normally assume that…
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 present an algorithm for data-driven reachability analysis that estimates finite-horizon forward reachable sets for general nonlinear systems using level sets of a certain class of polynomials known as Christoffel functions. The level…
This work presents a method to obtain inner and outer approximations of the region of attraction of a given target set as well as an admissible controller generating the inner approximation. The method is applicable to constrained…
Iterative imperative programs can be considered as infinite-state systems computing over possibly unbounded domains. Studying reachability in these systems is challenging as it requires to deal with an infinite number of states with…
This paper proposes novel set-theoretic approaches for state estimation in bounded-error discrete-time nonlinear systems, subject to nonlinear observations/constraints. By transforming the polytopic sets that are characterized as zonotope…
Reachability analysis is a fundamental problem for safety verification and falsification of Cyber-Physical Systems (CPS) whose dynamics follow physical laws usually represented as differential equations. In the last two decades, numerous…
This paper presents an enhanced direct-method-based approach for the real-time solution of optimal control problems to handle path constraints, such as obstacles. The principal contributions of this work are twofold: first, the existing…
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…
Reachability analysis of hybrid systems has been used as a safety verification tool to assess offline whether the state of a system is capable of remaining within a designated safe region for a given time horizon. Although it has been…
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…
Reachability analysis is a popular method to give safety guarantees for stochastic cyber-physical systems (SCPSs) that takes in a symbolic description of the system dynamics and uses set-propagation methods to compute an overapproximation…
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 present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family…
This paper studies deterministic data-driven reachability analysis for dynamical systems with unknown dynamics and nonconvex reachable sets. Existing deterministic data-driven approaches typically employ zonotopic set representations, for…