Related papers: Data-Driven Reachability Analysis for Piecewise Af…

The proliferation of neural networks in safety-critical applications necessitates the development of effective methods to ensure their safety. This letter presents a novel approach for computing the exact backward reachable sets of neural…

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…

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…

Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use…

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…

Situational awareness for connected and automated vehicles describes the ability to perceive and predict the behavior of other road-users in the near surroundings. However, pedestrians can become occluded by vehicles or infrastructure,…

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…

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…

Artificial neural networks have recently been utilized in many feedback control systems and introduced new challenges regarding the safety of such systems. This paper considers the safe verification problem for a dynamical system with a…

Reachability analysis is a key formal verification technique for ensuring the safety of modern cyber physical systems subject to uncertainties in measurements, system models (parameters), and inputs. Classical model-based approaches rely on…

Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…

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…

Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…

Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to disturbances that affect their performance, but are unknown a…

This paper presents identities for calculating over-approximated successor sets of discrete-time nonlinear systems using hybrid zonotopes. The proposed technique extends the state-update set construct, previously developed for linear hybrid…

Reachability analysis aims at identifying states reachable by a system within a given time horizon. This task is known to be computationally expensive for linear hybrid systems. Reachability analysis works by iteratively applying continuous…

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…

Reachability analysis is an important method in providing safety guarantees for systems with unknown or uncertain dynamics. Due to the computational intractability of exact reachability analysis for general nonlinear, high-dimensional…

This paper over-approximates the reachable sets of a continuous-time uncertain system using the sensitivity of its trajectories with respect to initial conditions and uncertain parameters. We first prove the equivalence between an existing…

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…