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Reachability with state constraints and competing inputs


K. Margellos

IfA Internal Seminar Series

In this talk we describe a new framework for formulating reachability problems with competing inputs, nonlinear dynamics and state constraints as optimal control problems. Earlier approaches to reach-avoid computations are either restricted to linear systems, or face numerical difficulties due to possible discontinuities in the Hamiltonian of the optimal control problem. The main advantage of the proposed approach is that it can be applied to a general class of target hitting continuous dynamic games with nonlinear dynamics, and has very good properties in terms of its numerical solution. The performance of this method is demonstrated by applying it to a two aircraft collision avoidance scenario under 4D constraints, called Target Windows, and in the presence of wind disturbance.


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J. Lygeros

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