Computing Funnels Using Numerical Optimization Based Falsifiers*

  title={Computing Funnels Using Numerical Optimization Based Falsifiers*},
  author={Jiř{\'i} Fejlek and Stefan Ratschan},
  journal={2022 International Conference on Robotics and Automation (ICRA)},
  • Jiří FejlekS. Ratschan
  • Published 23 September 2021
  • Computer Science
  • 2022 International Conference on Robotics and Automation (ICRA)
In this paper, we present an algorithm that computes funnels along trajectories of systems of ordinary differential equations. A funnel is a time-varying set of states containing the given trajectory, for which the evolution from within the set at any given time stays in the funnel. Hence it generalizes the behavior of single trajectories to sets around them, which is an important task, for example, in robot motion planning. In contrast to approaches based on sum-of-squares programming, which… 

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