相关论文: Lagrangian Reachtubes: The Next Generation

In this paper, we efficiently compute overapproximating reachable sets for control systems evolving on Lie groups, building off results from monotone systems theory and geometric integration theory. We consider intervals in the tangent…

The goal of the present work is three-fold. The first goal is to set foundational results on optimal transport in Lorentzian (pre-)length spaces, including cyclical monotonicity, stability of optimal couplings and Kantorovich duality…

Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…

In this mini-review we summarize the progress of Lattice Boltzmann(LB) modeling and simulating compressible flows in our group in recent years. Main contents include (i) Single-Relaxation-Time(SRT) LB model supplemented by additional…

This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…

In this paper, we consider the computational complexity of bounding the reachable set of a Linear Time-Invariant (LTI) system controlled by a Rectified Linear Unit (ReLU) Two-Level Lattice (TLL) Neural Network (NN) controller. In…

The paper will provide an overview of the capabilities of the Methodical Accelerator Design Next Generation (MAD-NG) tool. MAD-NG is a standalone, all-in-one, multi-platform tool well-suited for linear and nonlinear optics design and…

The reachable set of controlled dynamical systems consist of the set of all possible reachable states from an initial condition, over a certain period of time under various control and operation constraints and exogenous disturbances. For…

We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…

In this work, we extend the Spatiotemporal Tube (STT) framework to address Probabilistic Temporal Reach-Avoid-Stay (PrT-RAS) tasks in dynamic environments with uncertain obstacles. We develop a real-time tube synthesis procedure that…

We propose a novel Branch-and-Bound method for reachability analysis of neural networks in both open-loop and closed-loop settings. Our idea is to first compute accurate bounds on the Lipschitz constant of the neural network in certain…

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…

We put forth a long short-term memory (LSTM) nudging framework for the enhancement of reduced order models (ROMs) of fluid flows utilizing noisy measurements for air traffic improvements. Toward emerging applications of digital twins in…

Nonlinear acceleration methods are powerful techniques to speed up fixed-point iterations. However, many acceleration methods require storing a large number of previous iterates and this can become impractical if computational resources are…

The main objective of this series of papers is to explore the entire landscape of numerical methods for fast nonlinear Fourier transformation (NFT) within the class of integrators known as the exponential integrators. In this paper, we…

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…

This study focuses on reachability problems in differential games. An improved level set method for computing reachable tubes is proposed in this paper. The reachable tube is described as a sublevel set of a value function, which is the…

We introduce a new class of Runge-Kutta type methods suitable for time stepping to propagate hyperbolic solutions within tent-shaped spacetime regions. Unlike standard Runge-Kutta methods, the new methods yield expected convergence…

Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…

Next-generation reservoir computing (NG-RC) has attracted much attention due to its excellent performance in spatio-temporal forecasting of complex systems and its ease of implementation. This paper shows that NG-RC can be encoded as a…