Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 16 of 16 for “"Reachable Set"”.
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A Feasibility Problem Approach For Reachable Set Approximation
… control strategy validation. The computation of reachable sets (and controllability sets) is a central part of this analysis. In this work we advance an algorithm for approximating reachable sets which is originally based on optimally controlled problems with distance functions as objectives. It …
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Middleware and control of cyber-physical systems: temporal guarantees and hybrid system analysis
… such as safety can then be studied through a reachable set computation. Towards this end, we propose a theory for an over-approximation of the reachable set for a special class of hybrid systems, over a finite time interval, under a certain deterministic and transversal discrete transition …
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Training Safety Control Filters Using High-dimensional and Un-labeled Data
… the knowledge of the states in the backward reachable set of the failure set--the true dynamics-dependent unsafe set, and (2) in the case of systems with high-dimensional observations, such as images and point clouds, enormous amount of data is needed to train these neural observation-based …
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DNS based routing protocol in ad hoc networks
… each node knows the node connectivity within its reachable set; some nodes have DNS capability, which are responsible for route discovery. The routing is performed on two levels: Local node and terrestrial Global IP. By using DNS technique, the performance of the networks is highly improved. …
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Compositional bounded reachability using time partitioning and abstraction
… systems (CPS) typically involves computing the reachable set of states of such systems. This computation is known to be exponential in the number of continuous variables. For systems that can be decomposed into separate components with lower dimensionality, we present an algorithm that verifies …
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Threat Assessment and Proactive Decision-Making for Crash Avoidance in Autonomous Vehicles
… driver behavior prediction and stochastic reachable set threat assessment methodology for various dangerous situations on the road. This trust-based methodology allows autonomous vehicles to quantify the degree of trust in their predictions to generate the probabilistically safest …
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On properties of linear control systems on Lie groups
… of the infinitesimal automorphism X and for the reachable set defined by _x0006_Σ are presented in Chapter 3. Under a condition similar to the Kalman condition which is needed for controllability of linear control systems on R<sup>n</sup>, Ayala and Tirao showed local controllability of the …
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Time-delay systems : stability, sliding mode control and state estimation
… matrix inequalities. Secondly, the problem of reachable set bounding, essential information for the control design, is tackled for linear systems with time-varying delay and bounded disturbances. Indeed, minimisation of the reachable set bound can generally result in a controller with a larger …
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Computational Techniques for Stochastic Reachability
… provides a formal means of generating the set of initial states that meets a given objective (such as safety or reachability) with a desired level of probability, known as the reachable (or safe) set, depending on the objective. However, the applicability of reachability analysis is limited …
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Contract-based safety verification for autonomous driving
… that can be applied to and used by a wide set of real-world systems by acting as a design requirement for the controller implementation of the system. The contracts consider a large variety of road models, guarantee that the controlled system will remain safe with respect to probabilistic …
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Robust online motion planning with reachable sets
… to minimize the size of the worst case reachable set of the closed-loop system subjected to bounded disturbances and uncertainty. The reachable sets associated with each trajectory in the library can be thought of as "funnels" that the system is guaranteed to remain within. The resulting …
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Reachability prediction and optimal path planning for autonomous ocean vehicles
… In this thesis, we employ the Massachusetts Institute of Technology – Multidisciplinary Simulation, Estimation, and Assimilation Systems (MIT-MSEAS) time-optimal and hazard-time-optimal path planning theory and schemes based on exact Hamilton–Jacobi partial differential equations (PDEs) …
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Switched and hybrid systems with inputs: small-gain theorems, control with limited information, and topological entropy
… enough but finite. By extending the approach of reachable-set approximation and propagation from an earlier result on the disturbance-free case, we develop a communication and control strategy that achieves a variant of input-to-state stability with exponential decay. An estimate of the …
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Path planning and adaptive sampling in the coastal ocean
… Hamilton-Jacobi equation governs the forward reachable sets in any type of Lipschitz-continuous flow. Next, we show that with a suitable modification to the Hamiltonian, the results can be rigorously generalized to perform time-optimal path planning with anisotropic motion constraints and with …
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Invertibility and observability of switched systems with inputs and outputs
… the switching signal and the input. The setup naturally leads to an algorithm for output generation where a prescribed reference signal is generated using the system dynamics. In practice, the exact knowledge of the initial condition and the output may be an overly stringent requirement …
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Dynamic analysis of Cyber-Physical Systems
… to compute an over-approximation of the set of reachable states using sample executions and discrepancy functions. Using the reachability computation technique, this thesis proposes a safety verification algorithm which is proved to be sound and relatively complete. This technique is …