Convex Hulls of Reachable Sets

About

Code for our work on convex hull reachability analysis (T. Lew, R. Bonalli, M. Pavone, "Convex Hulls of Reachable Sets", available at https://arxiv.org/abs/2303.17674, 2024).

Using this code

To reproduce

• the spacecraft control results, run python scripts/spacecraft.py
• the Dubins car result with rectangular disturbance sets, run python dubins_rectangle.py
• the Dubins car result with non-invertible disturbance dynamics, run python dubins_non_invertible.py
• the neural feedback loop analysis results, see https://github.com/StanfordASL/nn_robustness_analysis/tree/disturbances_and_initial_states

Other examples can be found in the scripts/ and tests/ folder.

Setup

This code was tested with Python 3.8.0 on Ubuntu 18.04.6.

We recommend installing the package in a virtual environment. First, run

  python -m venv ./venv
  source venv/bin/activate

Then, all dependencies (numpy, scipy, jax, osqp, and matplotlib) can be installed by running

  pip install -r requirements.txt

and the package can be installed by running

  pip install -e .

Testing

The following command should run successfully: python -m pytest