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Hyperplanes Based Zonotopic Contractor (Short Paper)

Authors Rahma Bengamra , Soheib Fergani , Carine Jauberthie

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OASIcs.DX.2024.26.pdf
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ACM Subject Classification
  • Mathematics of computing → Continuous mathematics
Keywords
  • Contractors
  • Zonotopes
  • Hyperplanes

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Abstract

This article introduces a novel method for constructing a "zonotopic contractor" based on hyperplane properties. While zonotopes, a special class of polytopes, offer computational advantages due to their symmetric matrix representation, they are not closed under intersection, often necessitating over-approximations that lead to conservatism in practical applications. The proposed contractor addresses this issue by providing a more efficient solution for approximating zonotope intersections, reducing conservatism. This method generates a new zonotope that closely covers the intersection of two zonotopes. The reliability and effectiveness of the proposed approach are demonstrated through simulations on a bicycle model, showing potential benefits in safety-critical applications like autonomous driving, where precise uncertainty management is crucial for decision-making and control.

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Rahma Bengamra, Soheib Fergani, and Carine Jauberthie. Hyperplanes Based Zonotopic Contractor (Short Paper). In 35th International Conference on Principles of Diagnosis and Resilient Systems (DX 2024). Open Access Series in Informatics (OASIcs), Volume 125, pp. 26:1-26:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024) https://doi.org/10.4230/OASIcs.DX.2024.26

Author Details

Rahma Bengamra
  • LAAS-CNRS, Université de Toulouse, UPS, 7 avenue du Colonel Roche, 31400 Toulouse, France
Soheib Fergani
  • LAAS-CNRS, Université de Toulouse, UPS, 7 avenue du Colonel Roche, 31400 Toulouse, France
Carine Jauberthie
  • LAAS-CNRS, Université de Toulouse, UPS, 7 avenue du Colonel Roche, 31400 Toulouse, France

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