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math.OC2025
Efficient Norm-Based Reachable Sets via Iterative Dynamic Programming
Akash Harapanahalli, Samuel Coogan
In this work, we present a numerical optimal control framework for reachable set computation using \emph{normotopes}, a new set representation as a norm ball with a shaping matrix.…
math.OC2025
Parametric Reachable Sets Via Controlled Dynamical Embeddings
Akash Harapanahalli, Samuel Coogan
In this work, we propose a new framework for reachable set computation through continuous evolution of a set of parameters and offsets which define a parametope, through the inters…