Reachability analysis is a powerful tool when it comes to capturing the behaviour, thus verifying the safety, of autonomous systems. However, general-purpose methods, such as Hamilton-Jacobi approaches, suffer from the curse of dimensionality. In this paper, we mitigate this problem for systems of moderate dimension and we propose a new algorithm based on a tree structure approach with geometric pruning. The numerical examples will include a comparison with a standard finite-difference method for linear and nonlinear problems.
A Tree Structure Approach to Reachability Analysis / Alla, A.; M. Dower, P.; Liu, V.. - 32:(2023), pp. 1-21. (Intervento presentato al convegno Hyperbolic equations) [10.1007/978-3-031-29875-2_1].
A Tree Structure Approach to Reachability Analysis
Alla A.;
2023
Abstract
Reachability analysis is a powerful tool when it comes to capturing the behaviour, thus verifying the safety, of autonomous systems. However, general-purpose methods, such as Hamilton-Jacobi approaches, suffer from the curse of dimensionality. In this paper, we mitigate this problem for systems of moderate dimension and we propose a new algorithm based on a tree structure approach with geometric pruning. The numerical examples will include a comparison with a standard finite-difference method for linear and nonlinear problems.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
