Convex Hulls of Reachable Sets

arXiv:2303.17674v3 Announce Type: replace-cross
Abstract: We study the convex hulls of reachable sets of nonlinear systems with bounded disturbances and uncertain initial conditions. Reachable sets play a critical role in control, but remain notoriously challenging to compute, and existing over-approximation tools tend to be conservative or computationally expensive. In this work, we characterize the convex hulls of reachable sets as the convex hulls of solutions of an ordinary differential equation with initial conditions on the sphere. This finite-dimensional characterization unlocks …

abstract approximation arxiv compute control cs.lg cs.ro cs.sy eess.sy math.oc role study systems tools type uncertain work