A small demo for simple reachable set inner approximation in the case of degraded control authority.
This demo should work on Python 3.6 or greater, with the same dependencies as outlined in requirements.txt:
- numpy
- scipy
- shapely
- matplotlib
In addition, the exampleDuffingReach.m script requires MATLAB (or GNU Octave, though only tested on MATLAB R2019b) to run, with CORA Toolbox R2020 installed.
You can simply run the example.py file to run a demo that uses the provided example*.txt files to show the theory in action. Both the inner approximation and the off-nominal reachable set are plotted.
Further instructions on how to use the functions provided can be found in the internal documentation.
The theoretical underpinnings for this work are currently under submission under the title 'Online Inner Approximation of the Reachable Set of Nonlinear Systems with Diminished Control Authority.' A preprint version will soon be made available.