Develops an iterative nonlinear optimization framework with polynomial S-procedure and sum-of-squares for inner-approximating finite-horizon backward reachable sets of polynomial systems with disturbances and uncertainties.
Funnel libraries for real-time robust feedback motion planning,
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Backward Reachability for Polynomial Systems on A Finite Horizon
Develops an iterative nonlinear optimization framework with polynomial S-procedure and sum-of-squares for inner-approximating finite-horizon backward reachable sets of polynomial systems with disturbances and uncertainties.