Related papers: Data-Driven Nonconvex Reachability Analysis using …
We present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these sets and reveals an exact characterization for single-input,…
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoint, the algorithm identifies a convex admissible region and…
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.…
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…
There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…
This paper proposes new methods for set-based state estimation and active fault diagnosis (AFD) of linear descriptor systems (LDS). Unlike intervals, ellipsoids, and zonotopes, constrained zonotopes (CZs) can directly incorporate linear…
One of the most important problems in hybrid systems is the {\em reachability problem}. The reachability problem has been shown to be undecidable even for a subclass of {\em linear} hybrid systems. In view of this, the main focus in the…
This paper presents a new algorithm for set-based state estimation of nonlinear discrete-time systems with bounded uncertainties. The novel method builds upon essential properties and computational advantages of constrained zonotopes (CZs)…
Partially-Observable Markov Decision Processes (POMDPs) are a well-known stochastic model for sequential decision making under limited information. We consider the EXPTIME-hard problem of synthesising policies that almost-surely reach some…
We study the verification problem for closed-loop dynamical systems with neural-network controllers (NNCS). This problem is commonly reduced to computing the set of reachable states. When considering dynamical systems and neural networks in…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
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…
This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…
A method is proposed to compute robust inner-approximations to the backward reachable set for uncertain nonlinear systems. It also produces a robust control law that drives trajectories starting in these sets to the target set. The method…
Over-approximating the forward reach sets of controlled dynamical systems subject to set-valued uncertainties is a common practice in systems-control engineering for the purpose of performance verification. However, specific algebraic and…
A method is presented to obtain an inner-approximation of the backward reachable set (BRS) of a given target tube, along with an admissible controller that maintains trajectories inside this tube. The proposed optimization algorithms are…
This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks. Provided that the LTI system is stable and observable via every single sensor and that at least one…
We consider estimating a compact set from finite data by approximating the support function of that set via sublinear regression. Support functions uniquely characterize a compact set up to closure of convexification, and are sublinear…
The reachability problem for timed automata asks if there exists a path from an initial state to a target state. The standard solution to this problem involves computing the zone graph of the automaton, which in principle could be infinite.…
As dynamical systems equipped with neural network controllers (neural feedback systems) become increasingly prevalent, it is critical to develop methods to ensure their safe operation. Verifying safety requires extending control theoretic…