Open AccessPosted Content
Data-Driven Reachability Analysis from Noisy Data.
Amr Alanwar,Anne Koch,Frank Allgöwer,Karl Henrik Johansson +3 more
- 15 May 2021
TL;DR: In this article, the problem of computing reachable sets directly from noisy data without a given system model is considered, and several reachability algorithms are presented, and their accuracy is shown to depend on the underlying system generating the data.
read more
Abstract: We consider the problem of computing reachable sets directly from noisy data without a given system model. Several reachability algorithms are presented, and their accuracy is shown to depend on the underlying system generating the data. First, an algorithm for computing over-approximated reachable sets based on matrix zonotopes is proposed for linear systems. Constrained matrix zonotopes are introduced to provide less conservative reachable sets at the cost of increased computational expenses and utilized to incorporate prior knowledge about the unknown system model. Then we extend the approach to polynomial systems and under the assumption of Lipschitz continuity to nonlinear systems. Theoretical guarantees are given for these algorithms in that they give a proper over-approximative reachable set containing the true reachable set. Multiple numerical examples show the applicability of the introduced algorithms, and accuracy comparisons are made between algorithms.
read more
Chat with Paper
AI Agents for this Paper
Find similar papers on Google Scholar, PubMed and Arxiv
Write a critical review of this paper
Analyze citations of this paper to find unaddressed research gaps
Citations
Enhancing Data-Driven Reachability Analysis using Temporal Logic Side Information
23 May 2022
TL;DR: In this article , a signal temporal logic (STL) fragment is used to constrain the data-driven reachability analysis and safely limit the conservatism of the computed reachable sets.
Data-driven Reachability using Christoffel Functions and Conformal Prediction
Abdelmouaiz Tebjou,Goran Frehse,Faicel Chamroukhi +2 more
- 16 Sep 2023
TL;DR: This paper improves the sample efficiency and relaxing some of the assumptions by exploiting statistical guarantees from conformal prediction with training and calibration sets and exploits an incremental way to compute the Christoffel function to avoid the calibration set while maintaining the statistical convergence guarantees.
Data-Driven Reachability Analysis of Stochastic Dynamical Systems with Conformal Inference
Navid Hashemi,Xin Qin,Lars Lindemann,Jyotirmoy V. Deshmukh +3 more
- 13 Dec 2023
TL;DR: Data-driven reachability analysis of stochastic dynamical systems using conformal inference enables probabilistic reachability guarantees for systems with complex dynamics and limited symbolic information.
3
Data-Based Guaranteed Trajectory Estimation for Unmanned Surface Vehicles
Xudong Wang,Hui Zhang,Yuan Wang,Yaonan Wang,Hanlin Dong,Jitao Li +5 more
TL;DR: This article concerns the guaranteed trajectory estimation problem for unmanned surface vehicles (USVs) via set-membership estimation technique, where the parameters of system are all unknown.
2
Scalable Reachset-Conformant Identification of Linear Systems
Laura Lützow,Matthias Althoff +1 more
TL;DR: Scalable reachset-conformant identification of linear systems efficiently computes reachable sets using generator representation, improving scalability and accuracy for high-dimensional systems.
2
References
N4SID: subspace algorithms for the identification of combined deterministic-stochastic systems
TL;DR: Two new N4SID algorithms to identify mixed deterministic-stochastic systems are derived and these new algorithms are compared with existing subspace algorithms in theory and in practice.
2.1K
A note on persistency of excitation
TL;DR: It is proved that if a component of the response signal of a controllable linear time-invariant system is persistently exciting of sufficiently high order, then the windows of the signal span the full system behavior.
1K
Optimal estimation theory for dynamic systems with set membership uncertainty: an overview
Mario Milanese,Antonio Vicino +1 more
TL;DR: In this article, the main results of this theory are reviewed, with special attention to the most recent advances obtained in the case of componentwise bounds, where the uncertainty is described by an additive noise which is known only to have given integral (typically l 1 or l 2) or componentwise (l ∞) bounds.
753
Reachability of uncertain linear systems using zonotopes
Antoine Girard
- 09 Mar 2005
TL;DR: The main innovation of the method consists in the use of zonotopes for reachable set representation, which has been used to treat several examples and has shown great performances for high dimensional systems.
715
Formulas for Data-Driven Control: Stabilization, Optimality, and Robustness
Claudio De Persis,Pietro Tesi +1 more
TL;DR: In this paper, the authors derive a parametrization of linear feedback systems that paves the way to solve important control problems using data-dependent linear matrix inequalities only, which is remarkable in that no explicit system's matrices identification is required.