Reachability analysis of nonlinear systems with uncertain parameters using conservative linearization

By Matthias Althoff, Olaf Stursberg, Martin Buss. IEEE Conference on Decision and Control, 2008

308 citations recorded by the source corpus.

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Model-Based Probabilistic Collision Detection in Autonomous Driving (2009, methodology): “In this paper, overapproximations of reachable sets of nonlinear dynamic systems are computed as presented in [5].”
Reachability Analysis and its Application to the Safety Assessment of Autonomous Cars (2010, background): “The work on reachability analysis of nonlinear systems is published in [184] and on hybrid systems in [187, 191].”
Online Verification of Automated Road Vehicles Using Reachability Analysis (2014, background): “Unfortunately, this is rarely the case due to uncertain parameters (loading of the vehicle, tire-road friction, etc.) and disturbances (road imperfections, wind, slope, etc.) so that the stability analysis of the undisturbed model becomes inconclusive.”
Human motion trajectory prediction: a survey (2019, methodology): “.2015;Luber et al.2012) 3.2. Obstacle-aware methods, which account for the presence of unmodeled static obstacles not in the map, e.g. (Rehder and Kloden¨ 2015;Trautman and Krause2010;Bera et al.2016;Althoff et al. 2008b;Vemula et al.2017;Alahi et al.2016; Elfring et al.2014;Ferrer and Sanfeliu2014)”