Guaranteed Reachability for Systems with Unknown Dynamics

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


The problem of computing the reachable set for a given system is a quintessential question in nonlinear control theory. Motivated by prior work on safety-critical online planning, this paper considers an environment where the only available information about system dynamics is that of dynamics at a single point. Limited to such knowledge, we study the problem of describing the set of all states that are guaranteed to be reachable regardless of the unknown true dynamics. We show that such a set can be underapproximated by a reachable set of a related known system whose dynamics at every state depend on the velocity vectors that are available in all control systems consistent with the assumed knowledge. Complementing the theory, we discuss a simple model of an aircraft in distress to verify that such an underapproximation is meaningful in practice.

Original languageEnglish (US)
Title of host publication2020 59th IEEE Conference on Decision and Control, CDC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728174471
StatePublished - Dec 14 2020
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: Dec 14 2020Dec 18 2020

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference59th IEEE Conference on Decision and Control, CDC 2020
Country/TerritoryKorea, Republic of
CityVirtual, Jeju Island

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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