Reachability analysis provides optimal control and guarantees for safety-critical dynamic systems. However, the computational complexity of reachability analysis grows exponentially with system dimension, making this method intractable for high-dimensional or multi-agent systems. We are working on finding approximate and exact solutions to high-dimensional reachability problems by decomposing systems into multiple subsystems. These subsystems can be solved separately, then recombined to provide full system information. This allows us to analyze high-dimensional systems to provide performance and safety guarantees along with optimal control policies.
- Claire Tomlin
- Sylvia Herbert