Related papers: Box-Reachability in Vector Addition Systems
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…
An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…
Reachability analysis evaluates system safety, by identifying the set of states a system may evolve within over a finite time horizon. In contrast to model-based reachability analysis, data-driven reachability analysis estimates reachable…
A constant-rate multi-mode system is a hybrid system that can switch freely among a finite set of modes, and whose dynamics is specified by a finite number of real-valued variables with mode-dependent constant rates. We introduce and study…
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…
In this paper, we address a collection of state space reachability problems, for linear time-invariant systems, using a minimal number of actuators. In particular, we design a zero-one diagonal input matrix B, with a minimal number of…
Probabilistic guarantees of safety and performance are important in constrained dynamical systems with stochastic uncertainty. We consider the stochastic reachability problem, which maximizes the probability that the state remains within…
In this note, we propose a method to under-approximate finite-time reachable sets and tubes for a class of continuous-time linear uncertain systems. The class under consideration is the linear time-varying (LTV) class with integrable…
We introduce a rotation-invariant representation of planar shapes. In particular, this representation encodes shapes as vectors such that the Euclidean distance between them serves as a valid shape distance. For standardized, star-shaped…
This paper deals with the problem of point-to-point reachability in multi-linear systems. These systems consist of a partition of the Euclidean space into a finite number of regions and a constant derivative assigned to each region in the…
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…
The convexity of a set can be generalized to the two weaker notions of reach and $r$-convexity; both describe the regularity of a set's boundary. For any compact subset of $\mathbb{R}^d$, we provide methods for computing upper bounds on…
The Geometric Bin Packing (GBP) problem is a generalization of Bin Packing where the input is a set of $d$-dimensional rectangles, and the goal is to pack them into unit $d$-dimensional cubes efficiently. It is NP-Hard to obtain a PTAS for…
In the setting of real vector spaces, we establish a general set-valued Ekeland variational principle (briefly, denoted by EVP), where the objective function is a set-valued map taking values in a real vector space quasi-ordered by a convex…
Diagrammatic reducibility DR and its generalization vertex asphericity VA are combinatorial tools developed for detecting asphericity of a 2-complex. Here we present tests for a relative version of VA that apply to pairs of 2-complexes…
Despite being used in many engineering and scientific areas such as physics and mathematics and often taught in high school, graphical vector addition turns out to be a topic prone to misconceptions in understanding even at university-level…
Many robotic systems allow independent control of position and orientation (pose), including omnidirectional aerial vehicles, underwater robots, and manipulator end-effectors. In many applications, these systems must follow a continuous…
In this paper, we provide novel characterizations of the weakly unobservable and the strongly reachable subspaces corresponding to a given state-space system. These characterizations provide closed-form representations for the said…
This paper presents a reachability-based approach to finite-time transition problem of nonlinear systems between two stationary points (i.e., the point-to-point steering problem). When the target state is reachable, we prove that a solution…
In this paper we introduce a graph structure, called subspace sum graph $\mathcal{G}(\mathbb{V})$ on a finite dimensional vector space $\mathbb{V}$ where the vertex set is the collection of non-trivial proper subspaces of a vector space and…