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Fast Reachable Set Approximations via State Decoupling Disturbances. (arXiv:1603.05205v2 [math.OC] UPDATED)
来源于:arXiv
With the recent surge of interest in using robotics and automation for civil
purposes, providing safety and performance guarantees has become extremely
important. In the past, differential games have been successfully used for the
analysis of safety-critical systems. In particular, the Hamilton-Jacobi (HJ)
formulation of differential games provides a flexible way to compute the
reachable set, which can characterize the set of states which lead to either
desirable or undesirable configurations, depending on the application. While HJ
reachability is applicable to many small practical systems, the curse of
dimensionality prevents the direct application of HJ reachability to many
larger systems. To address computation complexity issues, various efficient
computation methods in the literature have been developed for approximating or
exactly computing the solution to HJ partial differential equations, but only
when the system dynamics are of specific forms. In this paper, we propose a
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