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Date
2023-12Type
- Journal Article
ETH Bibliography
no
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Abstract
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do not provide a margin of proximity to the unsafe set in terms of distance. The distance estimation problem is relaxed to a Monge-Kantorovich-type optimal transport problem based on existing occupation-measure methods of peak estimation. Specialized programs may be developed for polyhedral norm distances (e.g. L1 and Linfinity) and for scenarios where a shape is traveling along trajectories (e.g. rigid body motion). The distance estimation problem will be correlatively sparse when the distance objective is separable. Show more
Publication status
publishedExternal links
Journal / series
IEEE Transactions on Automatic ControlVolume
Pages / Article No.
Publisher
IEEESubject
Safety; Peak estimation; Numerical optimization; Linear matrix inequality; Sum of squaresOrganisational unit
02292 - NFS Dependable Ubiquitous Automation / NCCR Dependable Ubiquitous Automation
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ETH Bibliography
no
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