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Fix discretization with interval matrices for inputs not containing 0 #731

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schillic opened this issue Jan 22, 2020 · 1 comment
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@schillic
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schillic commented Jan 22, 2020

The corrected algorithm can be found in [1], Algorithm 4, p. 49 (and some definition on p. 47).

[1] M. Althoff: Reachability analysis and its application to the safety assessment of automonous cars

@schillic schillic added the bug label Jan 22, 2020
@mforets
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mforets commented Jan 23, 2020

Draft (from gitter):

if homogeneous
    R = CH(X0, e^Ar*X0) + F*X0
elseif origin in U
    R = CH(X0, e^Ar*X0) + F*X0 + Ω0_inhomog
else
    P(r) = ...
    Chull = CH(X0, e^Ar*X0 + P(r)) + -1 * P(r) + F*X0 + F~*u~ + Ω0_inhomog
end

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