StanfordASL / chreach

Convex hulls of reachable sets

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