Convex Hulls of Reachable Sets

About

Convex hull reachability analysis library. Contains code to reproduce results in (T. Lew, R. Bonalli, M. Pavone, "Convex Hulls of Reachable Sets", IEEE Transactions on Automatic Control, 2025, available at https://arxiv.org/abs/2303.17674).

Using this code

The examples in the scripts folder reproduce the results in the paper:

• For the spacecraft control results, run python scripts/spacecraft.py
• For the Dubins car result with rectangular disturbance sets, run python scripts/dubins_rectangle.py
• for the Dubins car result with non-invertible disturbance dynamics, run python scripts/dubins_non_invertible.py
• For 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

  python -m pip install -r requirements.txt

and the package can be installed by running

  python -m pip install -e .

Testing

The following command should run successfully: python -m pytest