Computation of an over-approximation of the backward reachable set using subsystem level set functions

Dušan M. Stipanović, Inseok Hwang, Claire J. Tomlin

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we present a method to decompose the problem of computing the backward reachable set for a dynamic system in a space of a given dimension, into a set of computational problems involving level set functions, each defined in a lower dimensional (subsystem) space. This allows the potential for great reduction in computation time. The overall system is considered as an interconnection of either disjoint or overlapping subsystems. The projection of the backward reachable set into the subsystem spaces is over-approximated by a level set of the corresponding subsystem level set function. It is shown how this method can be applied to two-player differential games. Finally, results of the computation of polytopic over-approximations of the unsafe set for the two aircraft conflict resolution problem are presented.

Original languageEnglish (US)
Title of host publicationEuropean Control Conference, ECC 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952417379
StatePublished - Apr 13 2003
Externally publishedYes
Event2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
Duration: Sep 1 2003Sep 4 2003

Publication series

NameEuropean Control Conference, ECC 2003


Other2003 European Control Conference, ECC 2003
Country/TerritoryUnited Kingdom


  • Differential games
  • Interconnected systems
  • Over-approximations
  • Reachable set

ASJC Scopus subject areas

  • Control and Systems Engineering


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