Related papers: Reachability Analysis of Nonlinear Discrete-Time S…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
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…
This paper proposes a tractable family of remainder-form mixed-monotone decomposition functions that are useful for over-approximating the image set of nonlinear mappings in reachability and estimation problems. Our approach applies to a…
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 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…
This paper investigates reachability analysis for max-plus linear systems (MPLS), an important class of dynamical systems that model synchronization and delay phenomena in timed discrete-event systems. We specifically focus on backward…
Ellipsoids are a common representation for reachability analysis, because they can be transformed efficiently under affine maps, and allow conservative approximation of Minkowski sums, which let one incorporate uncertainty and linearization…
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…
In this article we introduce a solution method for a special class of nonlinear initial-value problems using set-based propagation techniques. The novelty of the approach is that we employ a particular embedding (Carleman linearization) to…
We study the problem of computing robust controllable sets for discrete-time linear systems with additive uncertainty. We propose a tractable and scalable approach to inner- and outer-approximate robust controllable sets using constrained…
This paper presents new methods for set-valued state estimation and active fault diagnosis of linear descriptor systems. The algorithms are based on constrained zonotopes, a generalization of zonotopes capable of describing strongly…
Data-driven safety verification of robotic systems often relies on zonotopic reachability analysis due to its scalability and computational efficiency. However, for nonlinear systems, these methods can become overly conservative, especially…
Data-driven reachability analysis using matrix zonotopes faces a fundamental challenge: the number of generators in the reachable set grows exponentially during propagation, while current order reduction yields overly conservative…
This paper introduces ZETA, a new MATLAB library for Zonotope-based EsTimation and fAult diagnosis of discrete-time systems. It features user-friendly implementations of set representations based on zonotopes, namely zonotopes, constrained…
Linear Time Invariant (LTI) systems are ubiquitous in control applications. Unbounded-time reachability analysis that can cope with industrial-scale models with thousands of variables is needed. To tackle this problem, we use abstract…
Backward reachability analysis computes the set of states that reach a target set under the competing influence of control input and disturbances. Depending on their interplay, the backward reachable set either represents all states that…
This paper investigates the application of zonotope-based reachability analysis to low-thrust spacecraft in both two-body and cislunar environments. Reachable sets are generated under two-body and circular restricted three-body (CR3BP)…
We develop a new numerical method for approximating the infinite time reachable set of strictly stable linear control systems. By solving a linear program with a constraint that incorporates the system dynamics, we compute a polytope with…
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…
Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can provide guarantees of correctness. Reachability analysis for…